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d ata s heet BMC150 6 - axis e compass BMC150 : d ata sheet document revision 0. 4 document release date february 5 th , 201 3 document number bst - BMC150 - ds00 0 - 0 3 technical reference code(s) 0 273 141 15 6 notes product photos and pictures are for illustration purposes only and may differ from the real products appearance. bosch sensortec
datasheet e compass BMC150 page 2 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. BMC150 e c ompass with 3 - axis geo magnetic sensor and 12 bit 3 - axis accelerometer key features three - axis magnetic field sensor and 12bit three - axis accelerometer in one package ? accelerometer can still be used independently from magnetometer operation ? ultra - small package 14 - pin lga package , footprint 2. 2 2.2 mm 2 , height 0.95 mm ? digital interface spi (4 - wire, 3 - wire), i2c, 4 interrupt pins (2 acceleration sensor, 2 magnetic sensor interrupt pins) ? low voltage operation v dd supply voltage range: 1.62v to 3.6v v ddio interface voltage range: 1.2v to 3.6v ? flexible functionality acceleration ranges 2g/4g/8g/16g acceleration low - pass filter bandwidths 1 khz - <8hz ? magnetic field range 1300t (x, y - axis), 2500t (z - axis) magnetic field resolution of ~0.3t ? on - chip fifo integrated fifo with a depth of 32 frames ? on - chip interrupt controller motion - triggered interrupt - signal generation for - new data (separate for accelerometer and magnetometer) - any - motion (slope) detection - tap sensing (single tap / double tap) - orientation recognition - flat detection - low - g/high - g detection - magnetic low - /high - thresho ld detection ? ultra - low power low current consumption (190a @ 10 hz including accelerometer and magnetic sensor in low power preset), short wake - up time, advanced features for system power management ? temperature range - 40 c +85 c ? rohs compliant, haloge n - free typical applications ? tilt - compensated electronic compass for map rotation, navigation and augmented reality ? 6 - axis orientation for gaming ? display profile switching ? menu scrolling, tap / double tap sensing ? pedometer / step counting ? free - fall detectio n ? drop detection for warranty logging ? advanced system power management for mobile applications ? gaming
datasheet e compass BMC150 page 3 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. general description the bmc1 5 0 is an integrated electronic compass solution for consumer market applications. it comprises a 12bit leading edge triaxial, low - g acceleration sensor and an ultra - low power, high precision triaxial magnetic field sensor. it allows measurements of acceleration and magnetic field in three perpendicular axes. performance and features of both sensing technol ogies are carefully tuned and perfectly match the demanding requirements of all 6 - axis mobile applications such as electronic compass, navigation or augmented reality. an evaluation circuitry (asic) converts the output of the micromechanical sensing struct ures (mems) to digital results which can be read out over the industry standard digital interfaces. package and interfaces of the bmc 1 5 0 have been designed to match a multitude of hardware requirements. as the sensor features an ultra - small footprint and a flat package, it is ingeniously suited for mobile applications. the bmc1 5 0 offers ultra - low voltage operation (v dd voltage range from 1.62v to 3.6v, v ddio voltage range 1.2v to 3.6v) and can be programmed to optimize functionality, performance a nd power consumption in customer specific applications. the programmable interrupt engine sets new standards in terms of flexibility. the bmc1 5 0 senses orientation, tilt, motion, shock, vibration and heading in cell phones, handhelds, computer peri pherals, man - machine interfaces, virtual reality features and game controllers.
datasheet e compass BMC150 page 4 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. index of contents 1. specification ................................ ................................ ................................ ........................ 7 1.1 c ompass electrical sp ecification ................................ ................................ ................. 7 1.2 a ccelerometer specifi cation ................................ ................................ ........................ 8 1.3 m agnetometer specific ation ................................ ................................ ....................... 11 2. absolute maximum ratings ................................ ................................ .......................... 15 3. b lock diagram ................................ ................................ ................................ ................... 16 4. functional descri ption ................................ ................................ ................................ . 17 4.1 s upply voltage and po wer management ................................ ................................ ..... 17 4.2 p ower modes ................................ ................................ ................................ ................. 17 4.2.1 a ccelerome ter power modes ................................ ................................ ................................ . 18 4.2.2 m agnetometer power mo des ................................ ................................ ................................ .. 22 4.2.3 BMC150 overall power consum ption ................................ ................................ .................... 25 4.3 s ensor data ................................ ................................ ................................ .................. 26 4.3.1 a ccelerati on data ................................ ................................ ................................ ................... 26 4.3.2 t emperature sensor ................................ ................................ ................................ ................ 27 4.3.3 m agnetic field data ................................ ................................ ................................ .................. 27 4.3.4 m agnetic field data t emperature compensat ion ................................ ................................ ... 29 4.4 s elf - test ................................ ................................ ................................ ....................... 30 4.4.1 a ccelerometer self - test ................................ ................................ ................................ ........ 30 4.4.2 m agnetometer self - test ................................ ................................ ................................ ......... 31 4.5 a ccelerometer offset compensation ................................ ................................ ......... 33 4.5.1 s low compensation ................................ ................................ ................................ .................. 35 4.5.2 f ast compensation ................................ ................................ ................................ ................... 35 4.5.3 m anual compensation ................................ ................................ ................................ .............. 36 4.5.4 i nline calibration ................................ ................................ ................................ ..................... 36 4.6 n on - volatile memory ................................ ................................ ................................ .... 37 4.6.1 a ccelerometer non - volatile memory ................................ ................................ .................... 37 4.6.2 m agnetometer non - volatile memory ................................ ................................ ..................... 37 4.7 a ccelerometer interru pt controller ................................ ................................ ....... 38 4.7.1 g eneral features ................................ ................................ ................................ .................... 38 4.7.2 m apping to physical i nterrupt pins ( inttype to int p in #) ................................ ..................... 39 4.7.3 e lectrical behavior (int pin # to open - drive or push - pull ) ................................ .................. 40 4.7.4 n ew data interrupt ................................ ................................ ................................ .................. 40 4.7.5 s lope / any - motion detection ................................ ................................ ................................ .. 41 4.7.6 t ap sensing ................................ ................................ ................................ ............................... 43 4.7.7 o rientation recogniti on ................................ ................................ ................................ ......... 46 4.7.8 f lat detection ................................ ................................ ................................ .......................... 50 4.7.9 l ow - g interrupt ................................ ................................ ................................ ....................... 51 4.7.10 h igh - g interrupt ................................ ................................ ................................ .................... 52 4.7.11 n o - motion / slow motion detectio n ................................ ................................ ...................... 53
datasheet e compass BMC150 page 5 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.8 a ccelerometer softres et ................................ ................................ ........................... 55 4.9 m agnetometer interrup t controller ................................ ................................ ........ 56 4.9.1 g eneral features ................................ ................................ ................................ .................... 56 4.9.2 e lectrical behavior o f magnetic interrupt pins ................................ ................................ ... 57 4.9.3 d ata ready / drdy interrupt ................................ ................................ ................................ .. 57 4.9.4 l ow - threshold interrupt ................................ ................................ ................................ ........ 58 4. 9.5 h igh - threshold interrupt ................................ ................................ ................................ ....... 59 4.9.6 o verflow ................................ ................................ ................................ ................................ .. 60 5. fifo operation ................................ ................................ ................................ .................... 61 5.1 fifo o perating m odes ................................ ................................ ................................ . 61 5.2 fifo d ata r eadout ................................ ................................ ................................ ....... 62 5.3 fifo f rame c ounter and o verrun f lag ................................ ................................ ..... 62 5.4 fifo i nterrupts ................................ ................................ ................................ ............ 63 6. accelerometer reg ister description ................................ ................................ .... 64 6.1 g eneral remarks ................................ ................................ ................................ .......... 64 6.2 r egister map ................................ ................................ ................................ ................. 65 6.3 c hip id ................................ ................................ ................................ ............................ 66 6.4 a cceleration data ................................ ................................ ................................ ........ 67 6.5 t emper ature data ................................ ................................ ................................ ......... 71 6.6 s tatus registers ................................ ................................ ................................ .......... 72 6.7 g - range selection ................................ ................................ ................................ ......... 76 6.8 b andwidths ................................ ................................ ................................ .................... 77 6.9 p ower modes ................................ ................................ ................................ ................. 78 6.10 s pecial con trol settings ................................ ................................ ........................... 80 6.11 i nterrupt settings ................................ ................................ ................................ ...... 82 6.12 s elf - test ................................ ................................ ................................ ..................... 95 6.13 n on - volatile memory cont rol (eeprom) ................................ ................................ . 96 6.14 i nterface configurati on ................................ ................................ ............................ 97 6.15 o ffset compensation ................................ ................................ ................................ .. 98 6.16 n on - volatile memory back - up ................................ ................................ .................. 101 6.17 fifo configuration and fifo data ................................ ................................ .......... 102 7. magnetometer regi ster description ................................ ................................ ... 104 7.1 g eneral remarks ................................ ................................ ................................ ........ 104 7.2 r egister map ................................ ................................ ................................ ............... 104 7.3 c hip id ................................ ................................ ................................ .......................... 105 7.4 m agnetic field data ................................ ................................ ................................ .... 105
datasheet e compass BMC150 page 6 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 7.5 i nte rrupt status registe r ................................ ................................ ......................... 108 7.6 p ower and operation m odes , self - test and data output rate control registe rs 109 7.7 i nterrupt and axis en able settings contro l registers ................................ ........... 111 7.8 n umber of repetitions control registers ................................ ............................... 113 8. digital interface s ................................ ................................ ................................ .......... 115 8.1 s erial peripheral interface (spi) ................................ ................................ .............. 116 8.2 i nter - i ntegrated c ircuit (i2c) ................................ ................................ .................... 120 8.2.1 spi and i2c a ccess r estrictions ................................ ................................ .......................... 125 9. pin - out and connection d iagram ................................ ................................ ............. 126 9.1 p in - out ................................ ................................ ................................ ......................... 126 9.2 c onnection diagram 4 - wire spi ................................ ................................ ................. 127 9.3 c onnection diagram 3 - wire spi ................................ ................................ ................. 128 9.4 c onnection diagram i 2 c ................................ ................................ .............................. 129 10. package ................................ ................................ ................................ ............................ 130 10.1 o utline dimensions ................................ ................................ ................................ .... 130 10.2 s ensing axes orientat ion ................................ ................................ ......................... 131 10 .3 a ndroid axes orientat ion ................................ ................................ ......................... 132 10.4 l anding pattern recom mendation ................................ ................................ ........... 134 10.5 m arking ................................ ................................ ................................ ...................... 135 10.5.1 m ass production devic es ................................ ................................ ................................ .... 135 10.5.2 e ngineering samples ................................ ................................ ................................ ............ 135 10.6 s oldering guidelines ................................ ................................ ................................ 1 36 10.7 h andling instructions ................................ ................................ .............................. 137 10.8 t ape and reel specifi cation ................................ ................................ ...................... 138 10.8.1 t ape and reel dimensi ons ................................ ................................ ................................ ..... 138 10.8.2 o rientation within th e reel ................................ ................................ ................................ . 138 10.9 e nvironmental safety ................................ ................................ .............................. 139 10.9.1 h alogen content ................................ ................................ ................................ ................. 139 10.9.2 i nternal package stru cture ................................ ................................ ............................... 139 11. legal disclaimer ................................ ................................ ................................ ........... 140 11.1 e ngineering samples ................................ ................................ ................................ . 140 11.2 p roduct use ................................ ................................ ................................ .............. 140 11.3 a pplication examples and hints ................................ ................................ ............... 140 12. document history and modification ................................ ................................ ... 141
datasheet e compass BMC150 page 7 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 1. specification if not stated otherwise, the given values are over lifetime and full performance temperature and voltage ranges, minimum/maximum values are 3 ? . the specifications are split into accelerometer part and magnetometer part of bmc 1 5 0 . 1.1 compass electrical spec ification table 1 : compass electrical parameter specification compass operating conditions parameter symbol condition min typ max unit supply voltage internal domains v dd 1.62 2.4 3.6 v supply voltage i/o domain v ddio 1.2 1.8 3.6 v voltage input low level v il,a spi & i2c 0.3v ddio - voltage input high level v ih,a spi & i2c 0.7v ddio - voltage output low level v ol v ddio = 1. 2v i ol = 3ma, spi & i2c 0.2v ddio - voltage output high level v oh v ddio = 1.62v i oh = 2ma, spi & i2c 0.8v ddio -
datasheet e compass BMC150 page 8 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 1.2 accelerometer specification table 2 : accelerometer parameter specification accelerometer operating conditions parameter symbol condition min typ max unit acceleration range g fs2g selectable via serial digital interface 2 g g fs4g 4 g g fs8g 8 g g fs16g 16 g total supply current in normal mode i dd t a =25c, bw = 1khz 130 a total supply current in low - power mode 1 i ddlp1 t a =25c, bw = 1khz sleep duration ddlp2 t a =25c, bw = 1khz sleep duration ddsm,a t a =25c 0.5 a total supply current in suspend mode i ddsum t a =25c 1.6 a total supply current in standby mode i ddsbm t a =25c 4 5 a wake - up time 1 t w_up,a1 from low - power mode 1 or suspend mode or deep suspend mode bw = 1khz 1.3 ms wake - up time 2 t w_up,a2 from low - power mode 2 or stand - by mode bw = 1khz 1.0 s start - up time t s_up,a por, bw = 1khz 3 ms non - volatile memory (nvm) write - cycles n nvm 15 cycles
datasheet e compass BMC150 page 9 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. operating temperature t a same for accelerometer and magnetometer - 40 +85 c accelerometer o utput s ignal parameter symbol condition min typ max unit device resolution d res,a g fs2g 0.98 mg sensitivity s 2g g fs2g , t a =25c 1024 lsb/g s 4g g fs4g , t a =25c 512 lsb/g s 8g g fs8g , t a =25c 256 lsb/g s 16g g fs16g , t a =25c 128 lsb/g sensitivity temperature drift tcs a g fs2g , nominal v dd supplies 0.02 %/k sensitivity supply volt. drift s vdd,a g fs2g , t a =25c, v dd_min v dd dd_max 0.05 %/v zero - g offset off g fs2g , t a =25c, n ominal v dd supplies, over life - time 80 mg zero - g offset temperature drift tco g fs2g , nominal v dd supplies 1 mg/k zero - g offset supply volt. drift off vdd,a g fs2g , t a =25c, v dd_min v dd dd_max 0.5 mg/v bandwidth bw 8 2 nd order filter, bandwidth programmable 8 hz bw 16 16 hz bw 31 31 hz bw 63 63 hz bw 125 125 hz bw 250 250 hz bw 500 500 hz bw 1000 1000 hz nonlinearity nl ,a best fit straight line, g fs2g 0.5 %fs output noise density n rms,a g fs2g , t a =25c nominal v dd supplies normal mode 150 g/ ?
datasheet e compass BMC150 page 10 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. temperature sensor measurement range 1 t s - 40 85 c temperature sensor slope 1 dt s 0.5 k /lsb temperature sensor offset 1 ot s 2 k accelerometer m echanical c haracteristics parameter symbol condition min typ max unit cross axis sensitivity s a relative contribution between any two of the three axes 1 % alignment error e a,a relative to package outline 0.5 1 tentative value
datasheet e compass BMC150 page 11 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 1.3 magnetometer specification table 3 : magnetometer parameter specification magnetometer operating conditions parameter symbol condition min typ max unit magnetic field range b rg,xy t a =25c 2 1300 t b rg,z 2500 t magnetometer heading accuracy 3 ac heading 30t horizontal geomagnetic field component, t a =25c 2.5 degree system heading accuracy 4 as heading 30t horizontal geomagnetic field component, t a =25c 3.0 degree supply current in active mode (average) 5 i dd,lp,m low power preset nominal v dd supplies t a =25c, odr=10hz 170 a i dd,rg,m regular preset nominal v dd supplies t a =25c, odr=10hz 0.5 ma i dd,eh,m enhanced regular preset nominal v dd supplies t a =25c, odr=10hz 0.8 ma i dd,ha,m high accuracy preset nominal v dd supplies t a =25c, odr=20hz 4.9 ma supply current in suspend mode i ddsm,m nominal v dd /v ddio supplies, t a =25c 1 a peak supply current in active mode i ddpk,m in measurement phase nominal v dd supplies t a =25c 18 ma peak logic supply current in active mode i ddiopk,m only during measurement phase nominal v ddio supplies t a =25c 210 a 2 full linear measurement range considering sensor offsets. 3 the heading accuracy depends both on hardware and software. for detailed information of the software performance please contact bosch sensortec. 4 heading accuracy of the tilt - compensated 6 - axis ecompass system, assuming calibration with bosch sensortec ecompass software. average value over various device orientations (typical device usage). 5 for details on magnetometer current consumption calculation refer to chapter 4.2.2 and 4.2.3 .
datasheet e compass BMC150 page 12 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. por time t w_up,m from off to suspend; time starts when vdd>1.5v and vddio>1.1v 1.0 ms start - up time t s_up,m from suspend to sleep 3.0 ms
datasheet e compass BMC150 page 13 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. magnetometer o utput s ignal parameter symbol condition min typ max unit device resolution d res,m t a =25c 0.3 t gain error 6 g err,m after api temperature compensation t a =25c nominal v dd supplies 2 % sensitivity temperature drift tcs m after api temperature compensation - 40c t a +85c dd supplies 0.01 %/k zero - b offset off m t a =25c 4 0 t zero - b offset off m,cal after software calibration with bosch sensortec ecompass software 7 - 40c t a +85c m - 40c t a +85c dd supplies 0.07 t/k odr (data output rate), normal mode odr lp low power preset 10 hz odr rg regular preset 10 hz odr eh enhanced regular preset 10 hz odr ha high accuracy preset 20 hz odr (data output rate), forced mode odr lp low power preset 0 >300 hz odr rg regular preset 0 100 hz odr eh enhanced regular preset 0 60 hz odr ha high accuracy preset 0 20 hz full - scale nonlinearity nl m, fs best fit straight line 1 %fs output noise n rms,lp,m,xy low power preset x, y - axis, t a =25c nominal v dd supplies 1.0 t n rms,lp,m,z low power preset z - axis, t a =25c nominal v dd supplies 1.4 t 6 definition: gain error = ( ( measured field after api compensation ) / ( applied field ) ) - 1 7 magnetic zero - b offset assuming calibration with bosch sensortec ecompass software. typical value after applying calibration movements containing various device orientations (typical dev ice usage).
datasheet e compass BMC150 page 14 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. n rms,rg,m regular preset t a =25c nominal v dd supplies 0.6 t n rms,eh,m enhanced regular preset t a =25c nominal v dd supplies 0.5 t n rms,ha,m high accuracy preset t a =25c nominal v dd supplies 0.3 t power supply rejection rate psrr m t a =25c nominal v dd supplies 0.5 t/v
datasheet e compass BMC150 page 15 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 2. absolute maximum ratings the absolute maximum ratings provided in table 4 apply to both the accelerometer and magnetometer part of bmc 1 5 0 . at or above these maximum ratings operability is not given. the specification limits in chapter 1 only apply under normal operating conditions. table 4 : absolute maximum ratings parameter condition min max unit voltage at supply pin v dd pin - 0.3 4 .0 v v ddio pin - 0.3 4 .0 v voltage at any logic pad non - supply pin - 0.3 vddio + 0.3 v operating temperature, t a active operation - 40 +85 c passive storage temp. range 65% rel. h. 1 note: stress above these limits may cause damage to the device. exceeding the specified limits may affect the device reliability or cause malfunction.
datasheet e compass BMC150 page 16 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 3. block diagram figure 1 shows the basic building blocks of the bmc 1 5 0 : figure 1 : block diagram of bmc1 5 0 x y z m u x g a i n & o f f s e t l o g i c v r e f c / u a d c r e g u l a t o r i n t e r f a c e n v m o s c v d d g n d v d d i o p s 1 i n t 1 i n t 2 s d i s d o s c k c s b 1 a c c e l e r o m e t e r m e m s a c c e l e r o m e t e r a s i c x y x , y f l i p c o r e d r i v e & s e n s e l o g i c v r e f r e g u l a t o r i n t e r f a c e n v m o s c v d d g n d v d d i o p s 2 i n t 3 d r d y s d i s d o s c k c s b 2 f l i p c o r e s m a g n e t o m e t e r a s i c z h a l l e l e m e n t d r i v e & s e n s e v d d v d d i o g n d p s i n t 1 i n t 2 s d i s d o s c k c s b i n t 3 d r d y a d c a
datasheet e compass BMC150 page 17 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4. functional description bmc 1 5 0 is a sip (system in package) integration of a triaxial accelerometer (sensing element and asic) and a triaxial geomagnetic sensor (sensing element and asic) in one package. the two asics act as two separate slave devices on the digital bus (with different i2c address in i2c mode), which allows an independent operation of accelerometer and magnetometer parts in order to fit into a wide range of usage scenarios. 4.1 supply voltage and p ower management the bmc1 5 0 has two distinct power supply pins which supply both the acceleration sensor part and the magnetometer sensor part: ? v dd is the main power supply for all internal analog and digital functional blocks; ? v ddio is a separate power supply pin, used for the supply of the digi tal interface as well as the magnetic sensors logic. there are no limitations on the voltage levels of both pins relative to each other, as long as each of them lies within its operating range. furthermore, the device can be completely switched off ( v dd = 0v) while keeping the v ddio supply within operating range or vice versa. it is absolutely prohibited to keep any interface at a logical high level when v ddio is switched off. such a configuration will permanently damage the device (i.e. if v ddio = 0 ? [sdi & sdo & sck & csb] high). the device contains a power on reset (por) generator for each of the sensor parts, accelerometer part and magnetometer part. it resets the logic part and the register values of the concerned asic after powering - on v d d and v ddio . please note, that all application specific settings which are not equal to the default settings (refer to register maps chapter 6.2 and 7.2 ), must be re - set to its designated values after por. there are no constraints on the sequence of switching on both supply voltages. in case the i2c interface is used, a direct electrical connection between v ddio supply and the ps pin is needed in order to ensure reliable protocol selection . for spi interface mode the ps pin must be directly connected to gnd. 4.2 power modes the bmc1 5 0 features separately configurable power modes for the accelerometer and the magnetometer part. the advantage is that different characteristics regarding optimum system power saving of the two sensor types are exploited, and that the accelerometer part may also be us ed alone in certain usage scenarios where no magnetic field data is required. in such an example, the magnetometer part is able to suspend and sav e power during the time in which it is not required. in the following chapters, power modes for both accelerom eter and magnetometer part are described.
datasheet e compass BMC150 page 18 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.2.1 accelerometer power modes the bmc 150 accelerometer part has six different power modes (see figure 2 ) . besides normal mode, which represents the fully operational state of the device, there are five energy saving modes: deep - suspend mode, suspend mode, standby mode, low - power mode 1 and low - power mode 2. the possible transitions between the power modes are illustrated in figure 2 : figure 2 : power mode transition diagram after power - up the accelerometer part of bmc 150 is in normal mode so that this part is held powered - up and data acquisition is performed continuously. 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 (0x11) deep_suspend bit. the i 2 c watchdog timer remains functional. the (0x11) deep_ suspend bit, the (0x34) spi3 bit, (0x34) i2c_wdt_en bit and the (0x34) i2c_wdt_sel bit are functional in deep - suspend mode. equally the interrupt level a nd driver configuration registers (0x20) int1_lvl , (0x20) int1_od , (0x20) int2_lvl , and (0x20) int2_od are accessible. still it is possible to enter normal mode by performing a softreset as described in chapter 4.8 . please note, that all application specific settings which are not equal to the default settings (refer to 6.2 ), 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 acceleration data and the content of all configuration registers are kept . reading and writing to registers is supported. it is possible to enter normal mode by performing a softreset as described in chapter . 7.6 . low power mode 1 low power mode 2 normal mode suspend mode deep - suspend mode standby mode low power mode 1 low power mode 2 normal mode suspend mode deep - suspend mode standby mode
datasheet e compass BMC150 page 19 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. suspend mode is entered (left) by writing 1 (0) to the (0x11) suspend bit after bit (0x12) lowpower_mode has been set to 0. although write access to registers is supported at the full interface clock speed (scl or sck), a waiting period must be inser ted between two consecutive write cycles (please refer also to section 8.2.1 ). in standby mode the analog part is powered down, while the digital part remains larg ely operational. no data acquisition is performed. reading and writing registers is supported without any restrictions. the latest acceleration data and the content of all configuration registers are kept. standby mode is entered (left) by writing 1 (0) to the (0x11) suspend bit with bit (0x12) lowpower_mode set to 1. it is also po ssible to enter normal mode by performing a softreset as described in chapter 7.6 . in low - power mode 1 , the device is periodically switching between a sleep phase and a wake - up phase. the wake - up phase essentially corresponds to operation in normal mode with complete powe r - up of the circuitry. the sleep phase essentially corresponds to operation in suspend mode. low - power mode is entered (left) by writing 1 (0) to the (0x11) lowpower_en bit after bit (0x12) lowpower_mode has been set to 0. read access to registers is possible without limitations. however, unless the register access is synchronised with the wake - up phase, the restrictions of the suspend mode apply. low - power mode 2 is very similar to low - power mode 1, but register access is possible at any time withou t restrictions. it consumes more power than low - power mode 1. in low - power mode 2 the device is periodically switching between a sleep phase and a wake - up phase. the wake - up phase essentially corresponds to operation in normal mode with complete power - up o f the circuitry. the sleep phase essentially corresponds to operation in standby mode. low - power mode is entered (left) by writing 1 (0) to the (0x11) lowpower_en bit with bit (0x12) lowpower_mode set to 1. the timing behaviour of the low - power modes 1 and 2 depends on the setting of the (0x12) sleeptimer_en bit. when (0x12) sleeptimer_en is set to 0, the event - driven time - base mode (edt) is selected. in edt the duration of the wake - up phase depends on the number of samples required by the enabled interrupt engines. if an interrupt is detected, the device stays in the wake - up phase as long as the interrupt condition endures (non - latched interrupt), or until the latch time expires (temporary interrupt), or un til the interrupt is reset (latched interrupt). if no interrupt is detected, the device enters the sleep phase immediately after the required number of acceleration samples have been taken and an active interface access cycle has ended. the edt mode is rec ommended for power - critical applications which do not use the fifo. also, edt mode is compatible with legacy bst sensors.
datasheet e compass BMC150 page 20 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. figure 3 shows the timing diagram for low - power modes 1 and 2 when edt is selected. figure 3 : timing diagram for low - power mode ? , edt when (0x12) sleeptimer_en is set to 1, the equidistant - sampling mode (est) is selected. the use of the est mode is recommended when the fifo is used since it ensures that equidistant samples are sampled into the fifo regardless of whether the active phase is extended by active in terrupt engines or interface activity. in est mode the sleep time t sleep,a is defined as shown in figure 4 . the fifo sampling time t sample ,a is the su m of the sleep time t sleep,a and the sensor data sampling time t ssmp,a . since interrupt engines can extend the active phase to exceed the sleep time t sleep,a , equidistant sampling is only guaranteed if the bandwidth has been chosen such that 1/(2 * bw) = n * t sleep,a where n is an integer. if this condition is infringed, equidistant sampling is not possible. once the sleep time has elapsed the device will store the next available sample in the fifo. this set - up condition is not recommended as it may result in timing jitter. figure 4 : timing diagram for low - power mode ? , est state sleep phase active phase sample sample sample sample sample sample t sleep t settle settle settle sample t sleep t active state sleep phase active phase sample sample sample sample sample sample t settle settle settle sample settle sample t sleep t sleep t sleep t sample t sample t sample sampled into fifo t ssmp
datasheet e compass BMC150 page 21 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. the sleep time for lower - power mode 1 and 2 is set by the (0x11) sleep_dur bits as shown in the following table: table 5 : sleep phase duration settings (0x11) sleep_dur sleep phase duration t sleep,a 0000b 0.5ms 0001b 0.5ms 0010b 0.5ms 0011b 0.5ms 0100b 0.5ms 0101b 0.5ms 0110b 1ms 0111b 2ms 1000b 4ms 1001b 6ms 1010b 10ms 1011b 25ms 1100b 50ms 1101b 100ms 1110b 500ms 1111b 1s the current consumption of the bmc 150 accelerometer part in low - power mode 1 ( i ddlp1 ) and low - power mode 2 ( i ddlp2 ) can be calculated according to the following formulae: when estimating the length of the wake - up phase t active , the corresponding typical wake - up time, t w,up1 or t w,up2 and t ut ( given in table 5 ) have to be considered: if bandwidth is >=31.25 hz: t active = t ut + t w,up1 C 0.5 ms (or t active = t ut + t w,up2 C 0.5 ms) else: t active = 4 t ut + t w,up1 C 0.5 ms (or t active = 4 t ut + t w,up2 C 0.5 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 t w,up1 ( t w,up2 ) is needed to settle the analog modules so that reliable accelerat ion data are generated. a active a sleep a dd a active a ddsum a sleep a ddlp t t i t i t i , , , , , , , 1 ? ? ? ? ? a active a sleep a dd a active a ddsbm a sleep a ddlp t t i t i t i , , , , , , , 2 ? ? ? ? ?
datasheet e compass BMC150 page 22 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. table 6 gives an overview of the resulting average supply currents i ddlp1 ,a for the different sleep phase durations and a selec ted bandwidth of 1000hz, assuming no interrupt is active and thus only one sample per wake - up phase is taken: table 6 : typical average current consumption of the bmc 150 accelerometer part in low - power mode 1 sleep phase duration average current consumption 0.5ms 94.3 a 1ms 74.2 a 2ms 52.2a 4ms 33.1 a 6ms 24.5 a 10ms 16.4 a 25ms 8 a 50ms 4.9 a 100ms 3.3 a 500ms 1.9 a 1s 1.8 a 4.2.2 magnetometer power modes the bmc1 5 0 magnetometer part features configurable power modes. the four power modes of the bm c 150 magnetometer are decribed in the following chapters. power off mode in power off mode, v dd and/or v ddio are unpowered. the magnetometer part does not operate in this mode. when only one of v dd or v ddio is supplied, the magnetic sensor will still be in power off mode. power on reset is performed after both v dd and v ddio have risen above their detection thres holds. suspend mode suspend mode is the default power mode of bmc 1 5 0 magnetometer part after the chip is powered. when vdd and vddio are turned on the por (power on reset) circuits operate and the devices registers are initialized. after por becomes inactive, a start up sequence is executed. in this sequence nvm content is downl oaded 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 spi 3 wire enable can be accessed by the user. in this mode only registers supplied directly by vddio which store i 2 c slave device address, power control bit information and some others can be accessed by the user. no other registers can be accessed in suspend mode. all registers loose 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).
datasheet e compass BMC150 page 23 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 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. active mode the device can switch int o active mode from sleep mode by setting opmode bits (register 0x4c ). in active mode the magnetic field measurements are performed. in active mode, all registers are accessible. in active mode, two operation modes can be distinguished: ? normal mode: select ed 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 (o dr). from normal mode, the user can return to sleep mode by setting opmode to 11 or by performing a soft reset (see chapter 7.6 ). suspend mode can be entered by setting power control bit to 0. ? forced mode (sing le 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 ret urns to sleep mode. the forced mode is useful to achieve synchronized operation between host microcontroller and bmc1 5 0 . also, different data output rates from the ones selectable in normal mode can be achieved using forced mode. figure 5 : 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/y - a xis 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
datasheet e compass BMC150 page 24 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. data acquisitions). hence, the more repetitions are acquired to generat e 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 force d 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: 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 xy_rep and z_rep reg isters in chapter 7 ). 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 re gular 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 bmc 1 5 0 magnetometer part. the four presets consist of the below register configurations, which are automatically set by the bmc 1 5 0 api or driver provided by bosch sensortec when a preset is selected. table 7 shows the recom mended presets and the resulting magnetic field output noise and magnetometer part current consumption: table 7 : magnetometer presets in active operation and normal mode: preset x/y rep z rep odr odr max (forced mode) rms noise x/y/z average current consumption low power preset 3 3 10 hz >300 hz 1.0/1.0/1.4 t 170 a regular preset 9 15 10 hz 100 hz 0.6/0.6/0.6 t 0.5 ma enhanced regular preset 15 27 10 hz 60 hz 0.5/0.5/0.5 t 0.8 ma high accuracy preset 47 83 20 hz 20 hz 0.3/0.3/0.3 t 4.9 ma s nz s nxy s f odr 980 500 145 1 max, ? ? ? ? ?
datasheet e compass BMC150 page 25 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.2.3 bmc 1 5 0 overall power consumption below, table 8 shows the overall current consumption of bmc 1 5 0 (sum of accelerometer and magnetometer part) in typical scenarios such as a tilt - compensated electronic compass application. table 8 : bmc 1 5 0 overall current consumption in typical usage scenarios: compass preset acc. active / sleep interval acc. bw / dor mag. avg. current acc. avg. current total average current low power preset 8 / 50 ms 62.5 / 17 hz 170 a 20 a 190 a regular preset 16 / 50 ms 31 / 15 hz 0.5 ma 35 a 0.54 ma enhanced regular preset 16 / 50 ms 31 / 15 hz 0.8 ma 35 a 0.84 ma high accuracy preset 16 /25 ms 31 / 24 hz 4.9 ma 55 a 5.0 ma
datasheet e compass BMC150 page 26 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.3 sensor data 4.3.1 acceleration data the width of acceleration data is 12 bits given in twos complement representation. the 12 bits for each axis are split into an msb upper part (on e byte containing bits 11 to 4) and an lsb lower part (one byte containing bits 3 to 0 of acceleration and a (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 shadowi ng 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 ne w value immediately. unused bits of the lsb registers may have any value and should be ignored. the (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 l sb 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 (0x13) data_high_bw . if (0x13) data_high_bw is 0 (1), then filtered (unfiltered) data is stored in the registers. both data streams are offset - compen sated. the bandwidth of filtered acceleration data is determined by setting the (0x10) bw bit as followed: table 9 : bandwidth configuration bw bandwidth update time t ut 00xxx *) - 01000 7.81hz 64ms 01001 15.63hz 32ms 01010 31.25hz 16ms 01011 62.5hz 8ms 01100 125hz 4ms 01101 250hz 2ms 01110 500hz 1ms 01111 1000hz 0.5ms 1xxxx *) - *) 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 use the range from 01000b to 01111b only in order to be compatible with future products.
datasheet e compass BMC150 page 27 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. the bmc1 5 0 s accelerometer part supports four different acceleration measurement ranges. a measurement range is selected by setting the (0x0f) range bits as follows: table 10 : range selection range acceleration measurement range resolution 0011 2g 0.98mg/lsb 0101 4g 1.95mg/lsb 1000 8g 3.91mg/lsb 1100 16g 7.81mg/lsb others reserved - 4.3.2 temperature sensor the width of temperature data is 8 bits given in twos complement representation. temperature values are available in the (0x08) temp register. the slope of the temperature sensor is 0.5k/lsb, its center temperature is 24c [(0x08) temp = 0x00]. 4.3.3 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 twos complement. datax_lsb ( 0x42 ) contains 5 - bit lsb part [4:0] of the 13 bit out put 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 twos 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 measu rement 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 rhall - channel. rhall_msb ( 0x49 ) contains 8 - bit msb part [13:6] of the 14 bit output data of the rhall - channel. all signed register values are in twos 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 hig h - z in spi mode). data register readout and shadowing is implemented as follows:
datasheet e compass BMC150 page 28 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 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, w hile 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 inter face. 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 dat a 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 7 for detailed register descriptions.
datasheet e compass BMC150 page 29 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.3.4 magnetic field data temperature compensation the raw register values datax, datay, d ataz and rhall are read out from the host processor using the bmc 1 5 0 a pi/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/t to the upper application layer: figure 6 : calculation flow of magnetic field data from raw bmc 1 5 0 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 f loating - point formula is available as well. b m c 1 5 0 s e n s o r h a r d w a r e l e v e l s o f t w a r e d r i v e r l e v e l b m c 1 5 0 a p i / d r i v e r ( p r o v i d e d b y b o s c h s e n s o r t e c ) a p p l i c a t i o n s o f t w a r e a p p l i c a t i o n l e v e l m a g n e t o m e t e r r a w r e g i s t e r d a t a ( d a t a x , d a t a y , d a t a z , r h a l l ) t e m p e r a t u r e c o m p e n s a t e d m a g n e t i c f i e l d d a t a x / y / z i n s i g n e d i n t , ( 1 6 l s b / t ) o r f l o a t c o n f i g c o n f i g
datasheet e compass BMC150 page 30 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.4 self - test 4.4.1 accelerometer self - test this feature permits to check the bmc1 5 0 s accelerometer part 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 (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 (0x32) self_test_sign . the excitation occurs in negative (positive) direction if (0x32) self_ test_sign = 0b (1b). the amplitude of the deflection has to be set high by writing (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 11 shows the minimum differences for each axis. the actually measured signal differences can be significantly larger. table 11 : self - test difference values x - axis signal y - axis signal z - axis signal resulting minimum difference signal 800 mg 800 mg 400 mg it is recommended to perform a reset of the device after a self - test has been performed. if the reset cannot be performed, the following sequence must be kept to prevent unwanted interrupt generation: disable interrupts, change parameters of interrupts, wa it for at least 50ms, enable desired interrupts.
datasheet e compass BMC150 page 31 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.4.2 magnetometer self - test bmc1 5 0 supports two self - tests modes for the magnetometer part: normal self - test and advanced self - test. normal self test duri ng normal self - test, the follo wing 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) bondwires to asic are checked for connectivity ? flipcore (x and y) bondwires and mems are checked for shorts ? 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 s ensor 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 sel f - 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 axi s, the corresponding result bit returns 0. 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 t. advance d 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. di sable 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 t with some margins. 10. perform a soft reset of manually restore desi red settings please refer to the corresponding application note for the exact thresholds to evaluate advanced self - test.
datasheet e compass BMC150 page 32 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. below table describes how the advanced self - test is controlled: table 12 : magnetometer advanced self - test control (0x4c) adv.st <1:0> configuration 00b normal operation (no self - test), default 01b reserved, do not use 10b negative on - chip magnetic field generation 11b positive on - chip magnetic field generation the bmc 150 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.
datasheet e compass BMC150 page 33 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.5 accelerometer offset compensation offsets in measured acceleration signals can have several causes but they are always unwanted and disturbing in many cases. therefore, the accelerometer part of bmc1 5 0 offers an advanced set of four digital offset compensation methods which are closely matched to each other. these are slow , fast, and manual compensation, and 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 only a width of 8 bits. an overview of the offset compensation principle is given in figure 7 : figure 7 : principle of offset compensation 1 g 7 . 8 m g 1 5 . 6 m g 3 1 . 2 m g 6 2 . 5 m g 1 2 5 m g 2 5 0 m g 5 0 0 m g s i g n 3 . 9 m g 1 . 9 m g 0 . 9 7 m g 1 g 7 . 8 m g 1 5 . 6 m g 3 1 . 2 m g 6 2 . 5 m g 1 2 5 m g 2 5 0 m g 5 0 0 m g s i g n 3 . 9 m g 1 . 9 m g 2 g 1 g 7 . 8 m g 1 5 . 6 m g 3 1 . 2 m g 6 2 . 5 m g 1 2 5 m g 2 5 0 m g 5 0 0 m g s i g n 3 . 9 m g 2 g 4 g s i g n 1 g 7 . 8 m g 1 5 . 6 m g 3 1 . 2 m g 6 2 . 5 m g 1 2 5 m g 2 5 0 m g 5 0 0 m g 8 g 2 g 4 g m s b m s b m s b m s b l s b l s b l s b l s b - + - 2 g + - 4 g + - 8 g + - 1 6 g s i g n m s b l s b 7 . 8 m g 1 5 . 6 m g 3 1 . 2 m g 6 2 . 5 m g 1 2 5 m g 2 5 0 m g 5 0 0 m g r e a d / w r i t e 1 2 b i t a c c e l e r a t i o n d a t a r a n g e i 2 c / s p i / n v m m a p p i n g
datasheet e compass BMC150 page 34 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. the public offset compensation registers (0x38) offset_x , (0x39) offset_y , (0x3a) offset_z are image s of the corresponding registers in the nvm. with each image update (see section 4.6 for details) the contents of the nvm registers are written to the public regist ers. the public register 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 directio n, if an internally comp uted 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 7 . in case an internally computed compensation value is too small or too large to fit into the corresponding register, it i s saturated in order to prevent an overflow error. by writing 1 to the (0x36) offset_reset bit, all offset compensation registers are reset to zero .
datasheet e compass BMC150 page 35 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.5.1 slow compensation slow compensation is based on a 1 st order high - pass filter, which continuously driv es the average value of the output data stream of each axis to zero. the bandwidth of the high - pass filter is configured with bit (0x37) cut_off according to table 13 . table 13 : compensation period settings (0x37) cut_off high - pass filter bandwidth 0b 1 hz 1b 10 hz the slow compensation can be enabled (disabled) for each axis independently by setting the bits (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. 4.5.2 fa st 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 equals the target value. this is best suited for end - of - lin e trimming with the customers device positioned in a well - defined orientation. 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 (0x38, 0x39, 0x 3a) offset_filt_x/y/z . the public registers (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 (0x36) cal_trigger bits as shown in table 14 : table 14 : fast compensation axis selection (0x36) cal_trigger selected axis 00b none 01b x 10b y 11b z register (0x36) cal_trigger is a write - only register. once triggered, the status of the fast correction process is reflected in the status bit (0x36) cal_rdy . bit (0x36) cal_rdy is 0 while the correction is in progress. otherwise it is 1. bit (0x36) cal_rdy is 0 when (0x36) cal_trigger is not 00.
datasheet e compass BMC150 page 36 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. for the fast offset compensation, the compensation target can be chosen by setting the bits (0x37) offset_target_x , (0x37) off set_target_y , and (0x37) offset_target_z according to table 15 : table 15 : offset target settings (0x37) offset_target_x/y/z target value 00b 0g 01b +1g 10b - 1g 11b 0g fast compensation should not be used in combination with any of the low - power modes. in low - power mode the conditions (availability of necessary data) for proper function of fast compensation are not fulfilled. 4.5.3 manual compensation the contents of the public compensation registers (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 allow ed while the fast compensation procedure is running. 4.5.4 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 a nd then storing these values permanently in the nvm. see chapter 4.6.1 for details of the storing procedure. each time the device is reset, the com pensation 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.
datasheet e compass BMC150 page 37 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.6 non - volatile memory 4.6.1 accelerometer non - volatile memory the memory of the accelerometer part of bmc1 5 0 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 0x38 to 0x3c . while the addresses up to 0x3a are used for offset compensation (see section 4.5 ), addresses 0x3b and 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 soft reset ) or after a user request which is performed by writing 1 to the writ e - only bit (0x33) nvm_load . as long as the image update is in progress, bit (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 conte nts to the image registers. 2. write 1 to bit (0x33) nvm_prog_mode in order to unlock the nvm. 3. write 1 to bit (0x33) nvm_prog_trig and keep 1 in bit (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 (0x33) nvm_rdy . while (0x33) nvm_rdy = 0, the write process is still in progress; if (0x33) nvm_rdy = 1, then writing is completed. as long as the write process is ongoing, no chang e 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 (0x33) nvm_remain . 4.6.2 magnetometer non - volatile memory some of the memory of the bmc1 5 0 magnetometer is non - volatile memory (nvm). this nvm is pre - programmed in bosch sensortec fabrication line and cannot be modified afterwards. it contains trimming data which are required for sensor operation an d sensor data compensation, t hus it is read out by the bmc1 5 0 api/driver during initialization.
datasheet e compass BMC150 page 38 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7 accelerometer interrupt controller the accelerometer part of bmc1 5 0 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. there are two interrupt pins for the accelerometer part, 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. 4.7.1 general features an interrupt is cleared depending on the selected interrupt mode, which is common to all interrupts. there are thre e different interrupt modes: non - latched, latched, and temporary. the mode is selected by the (0x21) latch_int bits according to table 16 . table 16 : accelerometer interrupt mode selection (0x21) atch_int interrupt mode 0000b non - latched 0001b temporary, 250ms 0010b temporary, 500ms 0011b temporary, 1s 0100b temporary, 2s 0101b temporary, 4s 0110b temporary, 8s 0111b latched 1000b non - latched 1001b temporary, 250s 1010b temporary, 500s 1011b temporary, 1ms 1100b temporary, 12.5ms 1101b temporary, 25ms 1110b temporary, 50ms 1111b 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 val id. exceptions to this behavior are the new data, orientation, and flat interrupts, which are automatically reset after a fixed time.
datasheet e compass BMC150 page 39 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. in latched mode an asserted interrupt status and the selected pin are cleared by writing 1 to bit (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. th e behavior of the different interrupt modes is shown graphically in figure 8 . the timings in this mode are subject to the same tolerances as the bandw idths (see table 2 ). figure 8 : interrupt modes several interrupt engines can use either unfi ltered or filtered acceleration data as their input. for these interrupts, the source can be selected with the bits in register (0x1e). these are (0x1e) int_src_data , (0x1e) int_src_tap , (0x1e) int_src_slo_no_mot , (0x1e) int_src_slope , (0x1e) int_src_high , and (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 seque nce: disable the desired interrupt, change parameters, wait for at least 10ms, and then re - enable the desired interrupt. 4.7.2 mapping to physical interrupt pins (inttype to int pin#) registers (0x19) to (0x1b) are dedicated to mapping of interrupts to the inte rrupt pins int1 or int2. setting (0x19) int1 _inttype to 1 (0) maps (unmaps) inttype to pin int1. correspondingly setting (0x1b) int2 _inttype to 1 (0) maps (unmaps) inttype to pin int2. note: inttype to be replaced with the preci se notation, given in the memory map in chapter 5 . example: for flat interrupt (int1_flat): setting (0x19) int1_flat to 1 maps int1_flat to pin int1. i n t e r n a l s i g n a l f r o m i n t e r r u p t e n g i n e i n t e r r u p t o u t p u t n o n - l a t c h e d t e m p o r a r y l a t c h e d l a t c h p e r i o d
datasheet e compass BMC150 page 40 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.3 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 (0x20) int1_lvl and (0x20) int2_lvl bits. if (0x20) int1_lvl = 1 (0) / (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 (0x20) int1_od and (0x20) int2_od . by setting bits (0x20) int1_od / (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. 4.7.4 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 50s. the interrupt mode of the new data interrupt is fixed to non - latched. it is enabled (disabled) by writing 1 (0) to bit (0x17) data_en . the interrupt status is stored in bit (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
datasheet e compass BMC150 page 41 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. slope_th int slope acceleration acc(t 0 ) acc(t 0 ?1/(2*bw)) slope(t 0 )=acc(t 0 )?acc(t 0 ?1/(2*bw)) time time time slope_dur slope_du r 4.7.5 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 s lope falls below the threshold. the principle is made clear in figure 9 . figure 9 : principle of any - motion detection the threshold is defined through register (0x28) slope_th . in terms of scaling 1 lsb of (0x28) slope_th corresponds to 3.91 mg in 2g - range (7.81 mg in 4g - range, 15.6 mg in 8g - range 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 (0x28) slope_th . this number is set by the (0x27) slope_dur bits. it is n = (0x27) slope_dur + 1 for (0x27). example: (0x27) slope_dur = 00b, , 11b = 1decimal, , 4decimal.
datasheet e compass BMC150 page 42 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.5.1 enabling (disabling) for each axis any - motion detection can be enabled (disabled) for each axis separately by writing 1 (0) to bits (0x16) slope_en_x , (0x16) slope_en_y , (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 (0x28) slope_th for [ (0x27) slope_dur +1] consecutive t imes. as soon as the slopes of all enabled axes fall or stay below this threshold for [ (0x27) slope_dur +1] consecutive times the interrupt is cleared unless interrupt signal is latched. 4.7.5.2 axis and sign information of slope / any motion interrupt the interr upt status is stored in bit (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 (0x0b) slope_first_x , (0x0b) slope_first_y , (0x0b) slope_fi rst_z that contains a value of 1. the sign of the triggering slope is held in bit (0x0b) slope_sign until the interrupt is retriggered . if (0x0b) slope_sign = 0 (1), the sign is positive (negative).
datasheet e compass BMC150 page 43 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.6 tap sensing tap sensing has a functional similarity with a common laptop touch - pad or clicking keys of a computer mouse. a ta p 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 even t 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 (0x16) s_tap_en . double tap interrupt is enabled (disabled) by writing 1 (0) to bit (0x16) d_tap_en . the status of the single tap interrupt is stored in bit (0x09) s_tap_int , the status of the double tap interrupt is stored in bit (0x09) d_tap_int . the slope threshold for detecting a tap event is set by bits (0x2b) tap_th . the meaning of (0x2b) tap_th depends on the range setting. 1 lsb of (0x2b) tap_th corresponds to a slope of 62.5mg in 2g - range, 125mg in 4g - range, 250mg in 8g - range, and 500mg in 16g - range. in figure 10 the meaning of the different timing parameters is visualized: figure 10 : timing of tap detection the parameters (0x2a) tap_shock and (0x2a) tap_quiet apply to both single tap and double tap detection, while (0x2a) tap_dur applies to double tap detection only. within the duration of t a p _ s h o c k t a p _ q u i e t t a p _ d u r t a p _ s h o c k t a p _ q u i e t t i m e 1 2 . 5 m s s i n g l e t a p d e t e c t i o n d o u b l e t a p d e t e c t i o n s l o p e t i m e 1 2 . 5 m s t i m e 1 s t t a p 2 n d t a p t a p _ t h a
datasheet e compass BMC150 page 44 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. (0x2a) tap_shock any slope exceeding (0x2b) tap_th after the first event is ignored. contrary to this, within the duration of (0x2a) tap _quiet no slope exceeding (0x2b) tap_th must occur, otherwise the first event will be cancelled. 4.7.6.1 single tap detection a single tap is detected and the single tap interrupt is generated after the combined durations of (0x2a) tap_shock and (0x2a) tap_quiet , if the corresponding slope conditions are fulfilled. the interrupt is cleared after a delay of 12.5 ms. 4.7.6.2 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 (0x 2a) tap_dur after the completion of the first tap event. the interrupt is automatically cleared after a delay of 12.5 ms. 4.7.6.3 selecting the timing of tap detection for each of parameters (0x2a) tap_shock and (0x2a) tap_quiet two values are selectable. by writing 0 (1) to bit (0x2a) tap_shock the duration of (0x2a) tap_shock is set to 50 ms (75 ms). by writing 0 (1) to bit (0x2a) tap_quiet the duration of (0x2a) tap_quiet is set to 30 ms (20 ms). the length of (0x2a) tap_dur can be selected by setting the (0x2a) tap_dur bits according to table 17 : table 17 : selection of tap_dur (0x2a) tap_dur length of tap_dur 000b 50 ms 001b 100 ms 010b 150 ms 011b 200 ms 100b 250 ms 101b 375 ms 110b 500 ms 111b 700 ms
datasheet e compass BMC150 page 45 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.6.4 axis and sign information of tap sensing the sign of the slope of the first tap which triggered the interrupt is stored in bit (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 i s indicated by bits (0x0b) tap_first_x , (0x0b) tap_first_y , and (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. 4.7.6.5 tap sensin g 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 (0x2b) tap_samp according to table 18 . table 18 : meaning of (0x2b) tap_samp (0x2b) tap_samp number of samples 00b 2 01b 4 10b 8 11b 16
datasheet e compass BMC150 page 46 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.7 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 11 . figure 11 : 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 (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, high - asymmetrical, and low - asymmetrical. the mode is selected by setting the (0x2c) orient_mode bits as given in table 19 . table 19 : orientation mode settings (0x2c) orient_mode orientation mode 00b symmetrical 01b high - asymmetrical 10b low - asymmetrical 11b symmetrical
datasheet e compass BMC150 page 47 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. for each orientation mode the (0x0c) orient bits have a different meaning as shown in table 20 to table 22 : table 20 : meaning of the (0x0c) orient bits in symmetrical mode (0x0c) orient name angle condition x00 portrait upright 315 < ? hyst C hyst 0 ? hyst and acc_x + hyst < 0 ? |acc_y| |acc_x| + hyst ? |acc_y| |acc_x| + hyst and acc_y 0 (0x0c) orient bits in high - asymmetrical mode (0x0c) orient name angle condition x00 portrait upright 297 < ? ? hyst C hyst 0 ? ? hyst and acc_x + hyst < 0 ? |acc_y| 2 ? hyst ? |acc_y| 2 ? |acc_x| + hyst and acc_y 0 (0x0c) orient bits in low - asymmetrical mode (0x0c) orient name angle condition x00 portrait upright 333 < ? ? hyst C hyst 0 ? ? hyst and acc_x + hyst < 0 ? |acc_y| 0.5 ? hyst and acc_y < 0 ? |acc_y| 0.5 ? hyst and acc_y 0
datasheet e compass BMC150 page 48 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. in the preceding tables, the parameter hyst stands for a hysteresis, which can be selected by setting the (0x0c) orient_hyst bits. 1 lsb of (0x0c) 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 o verlap between the different orientations. the most significant bit of the (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 12 shows the typical switching conditions between the four different orientations for the symmetrical mode i.e. without hysteresis: figure 12 : typical orientation switching conditions w/o hysteresis the orientation interrupt is enabled (disabled) by writing 1 (0) to bit (0x16) orient_en . the interrupt is generated if the value of (0x0c) orient has changed. it is automatically cleared after one stable period of the (0x0c) orient value. the interrupt status is stored in the (0x09) orient_int bit. the register (0x0c) orient always reflects the current orientation of the device, irrespective of which interrupt mode has been selected. bit ( 0x0c) orient<2> reflects the device orientation with respect to the z - axis. the bits (0x0c) orient<1:0> reflect the device orientation in the x - y - plane. the conventions associated with register (0x0c) orient are detailed in chapter 5 . - 2 - 1 . 5 - 1 - 0 . 5 0 0 . 5 1 1 . 5 2 0 4 5 9 0 1 3 5 1 8 0 2 2 5 2 7 0 3 1 5 3 6 0 p h i a c c _ y / a c c _ x a c c _ x / s i n ( t h e t a ) a c c _ y / s i n ( t h e t a ) p o r t r a i t u p r i g h t l a n d s c a p e l e f t p o r t r a i t u p s i d e d o w n l a n d s c a p e r i g h t p o r t r a i t u p r i g h t - 2 - 1 . 5 - 1 - 0 . 5 0 0 . 5 1 1 . 5 2 0 4 5 9 0 1 3 5 1 8 0 2 2 5 2 7 0 3 1 5 3 6 0 ? p o r t r a i t u p r i g h t l a n d s c a p e l e f t p o r t r a i t u p s i d e d o w n l a n d s c a p e r i g h t p o r t r a i t u p r i g h t
datasheet e compass BMC150 page 49 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.7.1 orientation blocking the change of the (0x0c) orient value and C as a consequence C the generation of the interrupt can be blocked according to conditions selected by setting the value of the (0x2c) orient_blocking bits as described by table 23 . table 23 : blocking cond itions for orientation recognition (0x2c) orient_blocking conditions 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 100 ms the theta blocking is defined by the following inequality: the parameter blocking_theta of the above given equation stands for the contents of the (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 conseque nce, 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 z - axis, i. e. a after a sign change the interrupt is only generated after |z| > 0.2 g. . 8 _ tan theta blocking ? ?
datasheet e compass BMC150 page 50 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.7.2 up - down interrupt suppression flag per default an orientation interrupt is triggered when any of the bits in register (0x0c) orient changes state. the accelerometer part of bmc 1 5 0 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 (0x0c) orient<2> is ignored (considered) when bit (0x2d) orient_ud_en is set to 0 (1). 4.7.8 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 condition for the device to be in the flat position is like blocking_theta , used with orientation recognition, the parameter_theta stands for a user - defined setting. in this case the content of the (0x2e) flat_theta bits. the possible flat angles also range from 0 to 44.8. to ensure proper operation, parameter_theta has to be less than or equal to blocking_theta . the flat interrupt is enabled (disabled) by writing 1 (0) to bit (0x16) flat_en . the flat value is stored in the (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 interru pt is generated if the flat value has changed and the new value is stable for at least the time given by the (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 i n the (0x09) flat_int bit. the flat orientation of the sensor can always be determined from reading the (0x0c) flat bit after interrupt generation. if unlatched interrupt mode is used, the (0x09) flat_int value and hence the interrupt is automatically cleared after one sample period. if temporary or latched interrupt mode is used, the (0x09) flat_int value is kept fixed until the latch time expires or the interrupt is reset. the meaning of the (0x2f) fla t_hold_time bits can be seen from table 24 . table 24 : meaning of flat_hold_time (0x2f) flat_hold_time time 00b 0 01b 512 ms 10b 1024 ms 11b 2048 ms . 8 _ tan theta parameter ? ?
datasheet e compass BMC150 page 51 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.9 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 (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 (0x24) low_mode bit: 0 means single mode, 1 means sum mode. the low - g threshold is set through the (0x23) low_th register. 1 lsb of (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 (0x24) low_hy bits. 1 lsb of (0x24) low_hy always corresponds to an acceleration difference of 125 mg in any g - range (as well, increment is indep endent 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 (0x22) low_dur register. t he interrupt is reset 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 acquisit ion. in bit (0x09) low_int the interrupt status is stored. the relation between the content of (0x22) low_dur and the actual delay of the interrupt generation is: delay [ms] = [ (0x22) low_dur + 1] ? 2 ms. therefore, possible delay times range from 2 ms to 512 ms.
datasheet e compass BMC150 page 52 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.10 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 (0x17) high_en_x , (0x17) high_en_y , and (0x17) high_en_z , respectively. the high - g threshold is set through the (0x26) high_th register. the meaning of an lsb of (0x26) high_t h 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 (0x24) high_hy bits. analogously to (0x26) high_th , the meaning of an lsb of (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 fro m 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 (0x25) high_dur register. the interrupt i s 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 (0x25) high_dur register. in bit (0x09) high_int the interrupt status is stored. th e relation between the content of (0x25) high_dur and the actual delay of the interrupt generation is delay [ms] = [( 0x22) low_dur + 1] ? 2 ms. therefore, possible delay times range from 2 ms to 512 ms. 4.7.10.1 axis and sign information of high - g interrupt the axis which triggered the interrupt is indicated by bits (0x0c) high_first_x , (0x0c) high_first_y , and (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 (0x0c) high_sign . if (0x0c) high_sign = 0 (1), the sign is positive (negative).
datasheet e compass BMC150 page 53 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.7.11 no - motion / slow motion detection the slow - motion/no - motion interrupt engine can b e 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 (0x27) slo_no_mo t_dur<1:0> . the number is n = (0x27) slo_no_mot_dur<1:0> + 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 13 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 (0x27) slo_no_mot_dur defines the delay time before the no - motion interrupt is triggered. table 25 lists the delay times adjustable with register (0x27) slo_no_mot_dur . the timer tick period is 1 second. hence using short delay ti mes can result in considerable timing uncertainty. if bit (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 (0x18) slo_no_mot_en_x , (0x18) slo_no_mot_en_y , and (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 reg ister (0x29) slo_no_mot_th . the scaling is such that 1 lsb of (0x29) slo_no_mot_th corresponds to 3.91 mg in 2g - range (7.81 mg in 4g - range, 15.6 mg in 8g - range 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 25 : no - motion time - out periods (0x27) slo_no_mot_dur delay time (0x27) slo_no_mot_dur delay time (0x27) slo_no_mot_dur delay time 0 1 s 16 40 s 32 88 s 1 2 s 17 48 s 33 96 s 2 3 s 18 56 s 34 104 s ... ... 19 64 s. ... ... 14 15 s 20 72 s 62 328 s 15 16 s 21 80 s 63 336 s note: slo_no_ mot_dur values 22 to 31 are not specified
datasheet e compass BMC150 page 54 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. figure 13 : timing of no - motion interrupt acceleration slo_no_mot_th - slo_no_mot_th slope time axis x, y, or z axis x, y, or z slo_no_mot_dur timer int slope (t 0 + t)= acc (t 0 + t) - acc (t 0 ) acc(t 0 + t) acc(t 0 )
datasheet e compass BMC150 page 55 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.8 accelerometer softreset 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 ( 0x14) softreset . subsequently a waiting time of t w,up1 (max.) is required prior to accessing any configuration registers.
datasheet e compass BMC150 page 56 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.9 magnetometer interrupt controller four magnetometer based interrupt engines are integrated in the magnetometer part of bmc1 5 0 : 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 bmc1 5 0 s int3 output pin. by default, the interrupt pin is disabled (high - z status). low - threshold, high - threshold and overflow interrupts are mapped to the int3 pin when enabled, data ready (drdy) interrupt is mapped to the drdy pin of bmc 1 5 0 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 b it5 - 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 bmc 1 5 0 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) statu s 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. 4.9.1 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 i nterrupt pin are reset. the mode is selected by the interrupt latch bit (register 0x4a bit1 ), where the default setting of 1 means latched. figure 14 shows the difference between the modes for the example low - threshold interrupt. int3 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).
datasheet e compass BMC150 page 57 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. figure 14 : interrupt latched and non - latched mode 4.9.2 electrical behavior of magnetic interrupt pins both interrupt pins int3 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). 4.9.3 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: figure 15 : 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). l o w t h r e s h o l d m e a s u r e m e n t s i n t 3 p i n ( n o n - l a t c h e d ) i n t 3 p i n ( l a t c h e d ) r e a d i n g s o f i n t e r r u p t s t a t u s r e g i s t e r ( 0 x 4 a ) a c t i v e m e a s u r e m e n t t i m e p r e s e t t i m e m e a s u r e m e n t d a t a p r o c e s s i n g d a t a w r i t e i n t o o u t p u t r e g i s t e r s d r d y = 1 m e a s u r e m e n t p h a s e s t a r t d a t a r e a d o u t m e a s u r e m e n t d a t a p r o c e s s i n g i n a c t i v e t i m e
datasheet e compass BMC150 page 58 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.9.4 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 independe ntly. please note that the x and y axis value for overflow is - 4096. however, no interrupt is generated on these values. see chapter 4.9.6 for more information on overflow. hereby, one bit in low threshold corresponds to roughly 6t (not exactly, as the raw magnetic field values datax, datay and dataz are not temperature compensated). the low - th reshold interrupt is issued on int3 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 note: threshold interrupt enable bits (low int [xyz] en) are active low and 1 (d isabled) by default. figure 16 : low - threshold interrupt function a a l o w t h r e s h o l d m e a s u r e m e n t s i n t 3 p i n ( n o n - l a t c h e d ) i n t 3 p i n ( l a t c h e d ) r e a d i n t e r r u p t s t a t u s r e g i s t e r ( 0 x 4 a )
datasheet e compass BMC150 page 59 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.9.5 high - threshold interrupt when the data registers (datax, datay and dataz) values exceed the threshold level defined by the high threshold register ( 0x50 ), the c orresponding 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 6t (not exactly, as the raw magnetic field values datax, datay and dataz are not temperature compensated). the high - threshold interrupt is issued on int3 pin when one or more values of the data registers datax, datay and dataz exceed the threshold level defined by the high threshol d 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 > hi gh 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. figure 17 : high - threshold interrupt function h i g h t h r e s h o l d m e a s u r e m e n t s i n t 3 p i n ( n o n - l a t c h e d ) i n t 3 p i n ( l a t c h e d ) r e a d i n t e r r u p t s t a t u s r e g i s t e r ( 0 x 4 a ) a a
datasheet e compass BMC150 page 60 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 4.9.6 overflow when a measuremen t 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 0x4 a 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 int3 pin by setting the bit overflow int enable (register 0x4d bit6, active high, default v alue 0). the channel on which overflow occurred can by determined by assessing the datax/y/z registers.
datasheet e compass BMC150 page 61 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 5. fifo operation 5.1 fifo operating modes the ic of the accelerometer part of bmc1 5 0 features an integrated fifo memory capable of storing up to 32 frames. conceptually each frame consists of three 16 - bit words corresponding to the x, y and z - axis, which are sampled at the same point in time. at the core of the fifo is a buffer memory, which can be configured to operate in the following modes: ? fifo mode: in fifo mode the acceleration data of the selected axes 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 leve l reaches 32 frames. 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 acceleration data of the selec ted axes are stored in the buffer until it is full. the buffer has a depth of 31 frames. 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 conf igurable level. once the buffer is full, a fifo - full 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 (0x3e) fifo_mode according to 00b for bypass mode, 01b for fifo mode, and 10b for stream mode. writing to register (0x3e) clears the buffer content and resets the fifo - full and water mark interrupts. when reading register (0x3e) fifo_mode always contains the current operating mode.
datasheet e compass BMC150 page 62 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 5.2 fifo data readout the fifo stores the data that are also available at the acceleration read - out registers (0x02) to (0x07) . thus, all configuration setti ngs apply to the fifo data as well as the acceleration data readout registers. the fifo read out is possible through register (0x3f) . 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. register (0x3e) fifo_data_select controls the acceleration data of which axes are stored in the fifo. possible settings for register (0x3e) fifo_data_select are 00b for x, y - and z - axis, 01b for x - axis only, 10b for y - axis, 11b for z - axis only. the depth of the fifo is independent of whether all or a single axis have been select ed. writing to register (0x3e) clears the buffer content and resets the fifo - full and watermark interrupts. if all axes are enabled, the format of the data read - out from register (0x3f) is as follows: if only one axis is enabled, the format of the data read - out from register (0x3f) is as follows (example shown: y - axis only, other axes are equivalent). 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 us 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 t sample . otherwise frames may be lost. 5.3 fifo frame counter and overrun flag register (0x0e) fifo_frame_counter reflects the current fill level of the buffer. if additional frames are written to the buffer although the fifo is full, the (0x0e) fifo_overrun bit is set to 1. the fifo buffer is cleared, the fifo fill level indicated in register (0x0e) fifo_frame_counter and the (0x0e) fifo_overrun bit are both set to 0 each time one a write access to one of the fifo configuration registers (0x3e) or (0x30) occurs. the (0x0e) fifo_overrun bit is not reset when the fifo fill level (0 x0e) fifo_frame_counter has decremented to 0 due to reading from register (0x3f) . frame 1 y lsb y msb y lsb y msb frame 2 frame 1 x lsb x msb y lsb y msb z lsb z msb
datasheet e compass BMC150 page 63 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 5.4 fifo interrupts the fifo controller can generate two different interrupt events, a fifo - full and a watermark event. the fifo - full and watermark interrupts are functional in all fifo operating modes. the watermark interrupt is asserted when the fill level in the buffer has reached the frame count defined by register (0x30) fifo_water_mark_trigger_retain . in order to enable (disable) the watermark interrupt, the (0x17) int_f wm_en bit must be set to 1 (0). to map the watermark interrupt signal to int1 pin (int2 pin), (0x1a) int1_fwm ( (0x1a) int2_fwm) bit must be set to 1. the status of the watermark interrupt may be read back through the (0x0a) fifo_wm_int bit. writing t o register (0x30) fifo_water_mark_trigger_retain clears the fifo buffer. the fifo - full interrupt is triggered when the buffer has been completely filled. in fifo mode this occurs 32, in stream mode 31 samples, and in bypass mode 1 sample after the buffer h as been cleared. in order to enable the fifo - full interrupt, bit (0x17) int_ffull_en as well as one or both of bits (0x1a) int1_fful or (0x1a) int2_fful must also be set to 1. the status of the fifo - full interrupt may be read back through bit (0x0a) fifo_full_int .
datasheet e compass BMC150 page 64 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6. accelerometer register description 6.1 general remarks the entire communication with the device is performed by reading from and writing to registers. reg isters have a width of 8 bits; they are mapped to a common space of 64 addresses from (0x00) up to (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 (0x00) up to (0x0e) are read - on ly. 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. (0x21) reset_int or the entire (0x14) soft reset register, and rea d as value 0.
datasheet e compass BMC150 page 65 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.2 register map figure 18 : register map register address bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 access default 0x3f ro 0x00 0x3e w/r 0x00 0x3d w/r 0xff 0x3c w/r 0x00 0x3b w/r 0x00 0x3a w/r 0x00 0x39 w/r 0x00 0x38 w/r 0x00 0x37 cut_off w/r 0x00 0x36 offset_reset cal_rdy hp_z_en hp_y_en hp_x_en w/r 0x10 0x35 w/r 0x00 0x34 i2c_wdt_en i2c_wdt_sel spi3 w/r 0x00 0x33 nvm_load nvm_rdy nvm_prog_trig nvm_prog_mode w/r 0xf0 0x32 self_test_amp self_test_sign w/r 0x00 0x31 w/r 0xff 0x30 w/r 0x00 0x2f w/r 0x11 0x2e w/r 0x08 0x2d orient_ud_en w/r 0x48 0x2c w/r 0x18 0x2b w/r 0x0a 0x2a tap_quiet tap_shock w/r 0x04 0x29 w/r 0x14 0x28 w/r 0x14 0x27 w/r 0x00 0x26 w/r 0xc0 0x25 w/r 0x0f 0x24 low_mode w/r 0x81 0x23 w/r 0x30 0x22 w/r 0x09 0x21 reset_int w/r 0x00 0x20 int2_od int2_lvl int1_od int1_lvl w/r 0x05 0x1f w/r 0xff 0x1e int_src_data int_src_tap int_src_slo_no_mot int_src_slope int_src_high int_src_low w/r 0x00 0x1d w/r 0xff 0x1c w/r 0xff 0x1b int2_flat int2_orient int2_s_tap int2_d_tap int2_slo_no_mot int2_slope int2_high int2_low w/r 0x00 0x1a int2_data int2_fwm int2_ffull int1_ffull int1_fwm int1_data w/r 0x00 0x19 int1_flat int1_orient int1_s_tap int1_d_tap int1_slo_no_mot int1_slope int1_high int1_low w/r 0x00 0x18 slo_no_mot_sel slo_no_mot_en_z slo_no_mot_en_y slo_no_mot_en_x w/r 0x00 0x17 int_fwm_en int_ffull_en data_en low_en high_en_z high_en_y high_en_x w/r 0x00 0x16 flat_en orient_en s_tap_en d_tap_en slope_en_z slope_en_y slope_en_x w/r 0x00 0x15 w/r 0xff 0x14 wo 0x00 0x13 data_high_bw shadow_dis w/r 0x00 0x12 lowpower_mode sleeptimer_mode w/r 0x00 0x11 suspend lowpower_en deep_suspend w/r 0x00 0x10 w/r 0x0f 0x0f w/r 0x03 0x0e fifo_overrun ro 0x00 0x0d w/r 0xff 0x0c flat high_sign high_first_z high_first_y high_first_x ro 0x00 0x0b tap_sign tap_first_z tap_first_y tap_first_x slope_sign slope_first_z slope_first_y slope_first_x ro 0x00 0x0a data_int fifo_wm_int fifo_full_int ro 0x00 0x09 flat_int orient_int s_tap_int d_tap_int slo_no_mot_int slope_int high_int low_int ro 0x00 0x08 ro 0x00 0x07 ro 0x00 0x06 new_data_z ro 0x00 0x05 ro 0x00 0x04 new_data_y ro 0x00 0x03 ro 0x00 0x02 new_data_x ro 0x00 0x01 ro -- 0x00 ro 0xfa chip_id<7:0> acc_y_msb<11:4> acc_x_msb<11:4> acc_z_lsb<3:0> acc_y_lsb<3:0> self_test_axis<1:0> high_hy<1:0> orient_blocking<1:0> high_th<7:0> slo_no_mot_dur<5:0> acc_z_msb<11:4> acc_x_lsb<3:0> offset_target_y<1:0> offset_target_x<1:0> slope_dur<1:0> slope_th<7:0> high_dur<7:0> tap_dur<2:0> tap_th<4:0> fifo_data_output_register<7:0> gp0<7:0> offset_z<7:0> fifo_water_mark_level_trigger_retain<5:0> offset_target_z<1:0> cal_trigger<1:0> offset_x<7:0> fifo_mode<1:0> offset_y<7:0> gp1<7:0> latch_int<3:0> low_th<7:0> flat_hy<2:0> flat_theta<5:0> slo_no_mot_th<7:0> orient_mode<1:0> tap_samp<1:0> orient_hyst<2:0> orient_theta<5:0> fifo_data_select<1:0> flat_hold_time<1:0> nvm_remain<3:0> fifo_frame_counter<6:0> orient<2:0> temp<7:0> low_dur<7:0> bw<4:0> range<3:0> softreset low_hy<1:0> sleep_dur<3:0> 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.
datasheet e compass BMC150 page 66 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.3 chip id register 0x00 (bgw_chipid) the register contains the chip identification code. name 0x00 bgw_chipid bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content chip_id<7:4> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content chip_id<3:0> chip_id<7:0>: fixed value b11111010
datasheet e compass BMC150 page 67 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.4 acceleration data 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_su spend mode. name 0x02 accd_x_lsb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content acc_x_lsb<3:0> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content undefined undefined 0 new_data_x acc_x_lsb<3:0>: least significant 4 bits of acceleration read - back value; (twos - complement format) undefined: random data; to be ignored. new_data_x: 0: acceleration value has not been updated since it has been read out last 1: acceleration value has been updated since i t has been read out last 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. t his 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 0x03 accd_x_msb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content acc_x_msb<11:8>
datasheet e compass BMC150 page 68 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content acc_x_msb<7:4> acc_x_msb<11:4>: most significant 8 bits of acceleration readback value (twos - complement format) 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. na me 0x04 accd_y_lsb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content acc_y_lsb<3:0> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content undefined undefined 0 new_data_y acc_y_lsb<3:0>: least significant 4 bits of acceleration readback value; (twos - complement format) undefined: random data; to be ignored new_data_y: 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
datasheet e compass BMC150 page 69 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 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 0x05 accd_y_msb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content acc_y_msb<11:8> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content acc_y_msb<7:4> acc_y_msb<11:4>: most significant 8 bits of acceleration readback value (twos - complement format) 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 u ntil 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 e xcept during power - up and in deep_suspend mode. name 0x06 accd_z_lsb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content acc_z_lsb<3:0> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content undefined undefined 0 new_data_z
datasheet e compass BMC150 page 70 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. acc_z_lsb<3:0>: least significant 4 bits of acceleration readback value; (twos - 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 register 0 x07 (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 re gister accd_z_msb at any time except during power - up and in deep_suspend mode. name 0x07 accd_z_msb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content acc_z_msb<11:8> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content acc_z_msb<7:4> acc_z_msb<11:4>: most significant 8 bits of acceleration readback value (twos - complement format)
datasheet e compass BMC150 page 71 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.5 temperature data register 0x08 ( accd_temp ) the register contains the current chip temperature represented in twos complement format. a readout value of temp<7:0>=0x00 corresponds to a temperature of 24c. name 0x08 accd_temp bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content temp<7:4> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content temp<3:0> temp<7:0>: temperature value (two s - complement format)
datasheet e compass BMC150 page 72 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.6 status registers 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<3:0> controls if the interrupt signal and hence the respective interrupt flag will be pe rmanently latched, temporarily latched or not latched. the interrupt function associated with a specific status flag must be enabled. name 0x09 int_status_0 bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content flat_int orient_int s_tap_int d_tap_int bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content slo_no_mot_int slope_int high_int low_int flat_int: flat interrupt status: 0 ? inactive, 1 ? active orient_int : orientation interrupt status : 0 ? inactive, 1 ? active s_tap_int: single tap interrupt status: 0 ? inactive, 1 ? active d_tap_int double tap interrupt status: 0 ? inactive, 1 ? active slo_not_mot_int: slow/no - motion interrupt status : 0 ? inactive, 1 ? active slope_int: slope interrupt status : 0 ? inactive, 1 ? active high_int: high - g interrupt status : 0 ? inactive, 1 ? active low_int: low - g interrupt status : 0 ? inactive, 1 ? active 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<3:0> controls if the interrupt signal and hence the respective interrupt flag will be permanently latched, temporarily latched or not latc hed. the interrupt function associated with a specific status flag must be enabled. name 0x0a int_status_1 bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content data_int fifo_wm_int fifo_full_int reserved
datasheet e compass BMC150 page 73 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content reserved data_int: data ready interrupt status: 0 ? inactive, 1 ? active fifo_wm_int: fifo watermark interrupt status: 0 ? inactive, 1 ? active fifo_full_int: fifo full interrupt status: 0 ? inactive, 1 ? active reserved: reserved, write to 0 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 <3:0> 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 0x0b int_status_2 bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content tap_sign tap_first_z tap_first_y tap_first_x bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content slope_sign slope_first_z slope_first_y slope_first_x tap_sign: sign of single/double tap triggering signal was 0 ? positive, or 1 ? negative tap_first_z: single/double tap interrupt: 1 ? triggered by, or 0 ? not triggered by z - axis tap_first_y: single/double tap interrupt: 1 ? triggered by, or 0 ? not triggered by y - axi s tap_first_x: single/double tap interrupt: 1 ? triggered by, or 0 ? not triggered by x - axis slope_sign: slope sign of slope tap triggering signal was 0 ? positive, or 1 ? negative slope_first_z: slope interrupt: 1 ? triggered by, or 0 ? not triggere d by z - axis slope_first_y: slope interrupt: 1 ? triggered by, or 0 ? not triggered by y - axis slope_first_x: slope interrupt: 1 ? triggered by, or 0 ? not triggered by x - axis 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<3:0> the setting of latch_int<3:0> controls if the interrupt signal and hence the respective interrupt
datasheet e compass BMC150 page 74 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. flag will be permanently latched, temporarily latched or not latched. the interrupt function associated with a specific status flag must be enabled. name 0x0c int_status_3 bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content flat orient<2:0> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content high_sign high_first_z high_first_y high_first_x flat: device is in 1 ? flat, or 0 ? non flat position; only valid if (0x16) flat_en = 1 orient<2>: 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<3:0>. the flag is not updated as long as an orientation blocking condition is acti ve. orient<1:0>: 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<3:0>. the flag is not updated as long as an orientation blocking condition is active. high_sign: sign of acceleration signal that triggered high - g interrupt was 0 ? positive, 1 ? negative high_first_z: high - g interrupt: 1 ? triggered by, or 0 ? not triggered by z - ax is high_first_y: high - g interrupt: 1 ? triggered by, or 0 ? not triggered by y - axis high_first_x: high - g interrupt: 1 ? triggered by, or 0 ? not triggered by x - axis register 0x0e (fifo_status) the register contains fi fo status flags. name 0x0e fifo_status bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content fifo_overrun fifo_frame_counter<6:4>
datasheet e compass BMC150 page 75 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content fifo_frame_counter<3:0> 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<6:4>: current fill level of fifo buffer. an empty fifo corresponds to 0x00. the frame co unter can be cleared by reading out all frames from the fifo buffer or writing to the fifo configuration register fifo_config_1.
datasheet e compass BMC150 page 76 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.7 g - range selection register 0x0f (pmu_range) the register allows the selection of the accelerometer g - range. name 0x0f pmu_range bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved 0 bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 1 1 content range<3:0> range<3:0>: selection of accelerometer g - range: 0011b ? 2g range; 0101b ? 4g range; 1000b ? 8g range; 1100b ? 16g range; all other settings ? 2g range reserved: write 0
datasheet e compass BMC150 page 77 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.8 bandwidths register 0x10 (pmu_bw) the register allows the selection of the acceleration data filter bandwidth. name 0x10 pmu_bw bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved bw<4> 0 bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 1 1 1 content bw<3:0> bw<3:0>: 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 reserved: write 0
datasheet e compass BMC150 page 78 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.9 power modes register 0x11 (pmu_lpw) selection of the main power modes and the low power sleep period. name 0x11 pmu_lpw bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content suspend lowpower_en deep_suspend sleep_dur<3> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content sleep_dur<2:0> 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 not e that only certain power mode transitions are permitted. sleep_dur<3:0>: 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 ? 1 s register 0x12 (pmu_low_noise) configuration settings for low power mode. name 0x12 pmu_low_noise bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved lowpower_mode sleeptimer_mode reserved
datasheet e compass BMC150 page 79 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content 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 mus t 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
datasheet e compass BMC150 page 80 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.10 special control settings register 0x13 (ac cd_hbw) acceleration data acquisition and data output format. name 0x13 accd_hbw bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 (1 in 8 - bit mode) 0 0 content data_high_bw shadow_dis reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved data_high_bw: select whether 1 ? unfiltered, or 0 ? filtered data may be read from the acceleration data registers. shadow_dis: 1 ? disable, or 0 ? the shadowing mechanism for the acceleration data output registers. when shadowing is enabled, the content of the acceleration data component in the msb register is locked, when the component in the lsb is read, thereby ensuring the integrity of the accel eration data during read - out. the lock is removed when the msb is read. reserved: write 1 register 0x14 (bgw_softreset) controls user triggered reset of the sensor. name 0x14 bgw_softreset bit 7 6 5 4 read/write w w w w reset value 0 0 0 0 content softreset bit 3 2 1 0 read/write w w w w reset value 0 0 0 0 content 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
datasheet e compass BMC150 page 81 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. operation modes. please note that all application specific settings which are not equal to the default settings (refer to chapter 6.2 ), must be reconfigured to their designated values.
datasheet e compass BMC150 page 82 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.11 interrupt settings register 0x16 (int_en_0) controls which interrupt engines in group 0 are enabled. name 0x16 int_en_0 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content flat_en orient_en s_tap_en d_tap_en bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved slope_en_z slope_en_y slope_en_x flat_en: flat interrupt: 0 ? disabled, or 1 ? enabled orient_en: orientation interrupt: 0 ? disabled, or 1 ? enabled s_tap_en: single tap interrupt: 0 ? disabled, or 1 ? enabled d_tap_en double tap interrupt: 0 ? disabled, or 1 ? enabled reserved: write 0 slope_en_z: slope interrupt, z - axis component: 0 ? disabled, or 1 ? enabled slope_en_y: slope interrupt, y - axis component: 0 ? disabled, or 1 ? enabled slope_en_x: slope interrupt, x - axis component: 0 ? disabled, or 1 ? enabled register 0x17 (int_en_1) controls which interrupt engines in group 1 are enabled. name 0x17 int_en_1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved int_fwm_en int_ffull_en data_en bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content low_en high_en_z high_en_y high_en_x reserved: write 0
datasheet e compass BMC150 page 83 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. int_fwm_en: fifo watermark interrupt: 0 ? disabled, or 1 ? enabled int_ffull_en: fifo full interrupt: 0 ? disabled, or 1 ? enabled data_en data ready interrupt: 0 ? disabled, or 1 ? enabled low_en: low - g interrupt: 0 ? disabled, or 1 ? enabled high_en_z: high - g interrupt, z - axis component: 0 ? disabled, or 1 ? enabled high_en_y: high - g interrupt, y - axis component: 0 ? disabled, or 1 ? enabled high_en_x: high - g interrupt, x - axis component: 0 ? disabled, or 1 ? enabled register 0x18 (int_en_2) controls which interrupt engines in group 2 are enabled. nam e 0x18 int_en_2 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content slo_no_mot_sel slo_no_mot_en_z slo_no_mot_en_y slo_no_mot_en_x 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 sl o_no_mot_en_x: slow/n - motion interrupt, x - axis component : 0 ? disabled, or 1 ? enabled register 0x19 (int_map_0) controls which interrupt signals are mapped to the int1 pin. name 0x19 int_map_0 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int1_flat int1_orient int1_s_tap int1_d_tap
datasheet e compass BMC150 page 84 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int1_slo_no_mot int1_slope int1_high int1_low int1_flat: map flat interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_orient: map orientation interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_s_tap: map single tap interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_d_tap: map double tap interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_slo_no_mo t: map slow/no - motion interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_ slope: map slope interrupt to int1 pin : 0 ? disabled, or 1 ? enabled int1_high : map high - g to int1 pin : 0 ? disabled, or 1 ? enabled int1_ low: map low - g to int1 pin : 0 ? disa bled, or 1 ? enabled register 0x1a (int_map_1) controls which interrupt signals are mapped to the int1 and int2 pins. name 0x1a int_map_1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int2_data int2_fwm int2_ffull reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved int1_ffull int1_fwm int1_data int2_data: map data ready interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_fwm: map fifo watermark interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_ffull: map fifo full interrupt to int2 pin: 0 ? disabled, or 1 ? enabled reserved: write 0 int1_ffull: map fifo full interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_fwm: map fifo watermark interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_data: map data ready interrupt to int1 pin: 0 ? disabled, or 1 ? enabled
datasheet e compass BMC150 page 85 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register 0x1b (int_map_2) controls which interrupt signals are mapped to the int2 pin. name 0x1b int_map_2 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int2_flat int2_orient int2_s_tap int2_d_tap bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int2_slo_no_mot int2_slope int2_high int2_low int2_flat: map flat interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_orient: map orientation interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_s_tap: map single tap interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_d_tap: map double tap interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_slo_no_mot: map slow/no - motion interrupt to int2 pin: 0 ? disabled, or 1 ? enabled int2_ slope: map slope interrupt to int2 pin : 0 ? disabled, or 1 ? enabled int2_high : map high - g to int2 pin : 0 ? disabled, or 1 ? enabled i nt2_ low: map low - g to int2 pin : 0 ? disabled, or 1 ? enabled register 0x1e (int_src) contains the data source definition for interrupts with selectable data source. name 0x1e int_src bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved int_src_data int_src_tap bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content 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
datasheet e compass BMC150 page 86 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 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 ? unfi ltered 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 register 0x20 (int_out_ctrl) contains the behavioural configuration (electrical 86 ehavior ) of the interrupt pins. name 0x20 int_out_ctrl bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 1 0 1 content int2_od int2_lvl int1_od int1_lvl reserved: write 0 int2_od: select 0 ? push - pull, or 1 ? open drain behavior for int2 pin int2_lvl: select 0 ? active low, or 1 ? active high level for int2 pin int1_od: select 0 ? push - pull, or 1 ? open drain behavior for int1 pin int1_lvl: select 0 ? active low, or 1 ? active high level for int1 pin register 0x21 (int_rst_latch) contains the interrupt reset bit and the interrupt mode selection. name 0x21 int_rst_latch bit 7 6 5 4 read/write w r/w r/w r/w reset value 0 0 0 0 content reset_int reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content latch_int<3:0>
datasheet e compass BMC150 page 87 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. reset_int: write 1 ? clear any latched interrupts, or 0 ? keep latched interrupts active reserved: write 0 latch_int<3:0>: 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 register 0x22 (int_0) contains the delay time definition for the low - g interrupt. na me 0x22 int_0 bit 7 6 5 4 read/write w r/w r/w r/w reset value 0 0 0 0 content low_dur<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 1 content low_dur<3:0> low_dur<7:0>: low - g interrupt trigger delay according to [ low_dur<7:0> + 1] ? 2 ms in a range from 2 ms to 512 ms; the default corresponds to a delay of 20 ms. register 0x23 (int_1) contains the threshold definition for the low - g interrupt. name 0x23 int_1 bit 7 6 5 4 read/write w r/w r/w r/w reset value 0 0 1 1 content low_th<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content low_th<3:0>
datasheet e compass BMC150 page 88 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. low_th<7:0>: low - g interrupt trigger threshold according to low_th<7:0> ? 7.81 mg in a range from 0 g to 1.992 g; the default value corresponds to an acceleration of 375 mg register 0x24 (int_2) contains the low - g interrupt mode selection, the low - g interrupt hysteresis setting, and the high - g interrupt hysteresis setting. name 0x24 int_2 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 1 0 0 0 content high_hy<1:0> reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 1 content reserved low_mode low_hy<1:0> high_hy<1:0>: hysteresis of high - g interrupt according to high_hy<1:0> 125 mg (2 - g range), high_hy<1:0> 250 mg (4 - g range), high_hy<1:0> 500 mg (8 - g range), or high_hy<1:0> 1000 mg (16 - g range) low_mode: select low - g interrupt 0 single - axis mode, or 1 axis - summing mode low_hy<1: 0>: hysteresis of low - g interrupt according to low_hy<1:0> 125 mg independent of the selected accelerometer g - range register 0x25 (int_3) contains the delay time definition for the high - g interrupt. name 0x25 int_3 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content high_dur<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 1 1 1 content high_dur<3:0> high_dur<7:0>: high - g interrupt trigger delay according to [ high_dur<7:0> + 1] ? 2 ms in a range from 2 ms to 512 ms; the default corresponds to a delay of 32 ms.
datasheet e compass BMC150 page 89 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register 0x26 (int_4) contains the threshold definition for the high - g interrupt. name 0x26 int_4 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 1 1 0 0 content high_th<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content high_th<3:0> high_th<7:0>: threshold of high - g interrupt according to high_th<7:0> 7.81 mg (2 - g range), high_th<7:0> 15.63 mg (4 - g range), high_th<7:0> 31.25 mg (8 - g range), or high_th<7:0> 62.5 mg (16 - g range) register 0x27 (int_5) contains the definition of the number of samples to be evaluated for the slope interrupt (any - motion detection) and the slow/no - motion interrupt trigger delay. name 0x27 int_5 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content slo_no_mot_dur<5:2> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content slo_no_mot_dur<1:0> slope_dur<1:0> slo_no_mot_dur<5:0>: 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<1:0>+1] consecutive slope data points must be above the slow/no - motion threshold (slo_no_m ot_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<5:0> defines the time for which no slope data points must exceed the slow/no - motion threshold (slo_no_mo t_th) for the slow/no - motion interrupt to trigger. the delay time in seconds may be calculated according with the following equation:
datasheet e compass BMC150 page 90 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. slo_no_mot_dur<5:4>=b00 ? [slo_no_mot_dur<3:0> + 1] slo_no_mot_dur<5:4>=b01 ? [slo_no_mot_dur<3:0> 4 + 20] slo_no_m ot_dur<5>=1 ? [slo_no_mot_dur<4:0> 8 + 88] slope_dur<1:0>: slope interrupt triggers if [slope_dur<1:0>+1] consecutive slope data points are above the slope interrupt threshold slope_th<7:0> register 0x28 (int_6) contains the threshold definition for the any - motion interrupt. name 0x28 int_6 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content slope_th<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 1 0 0 content slope_th<3:0> slope_th<7:0>: threshold of the any - motion interrupt. it is range - dependent and defined as a sample - to - sample difference according to slope _th<7:0> 3.91 mg (2 - g range) / slope _th<7:0> 7.81 mg (4 - g range) / slope _th<7:0> 15.63 mg (8 - g range) / slope _th<7:0> 31.25 mg (16 - g range) register 0x29 (int_7) contains the threshold definition for the slow/no - motion interrupt. name 0x29 int_7 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content slo_no_mot_th<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 1 0 0 content slo_no_mot_th<3:0>
datasheet e compass BMC150 page 91 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. slo_no_mot_th<7:0>: threshold of slow/no - motion interrupt. it is range - dependent and defined as a sample - to - sample difference according to slo_no_mot _th<7:0> 3..91 mg (2 - g range), slo_no_mot _th<7:0> 7.81 mg (4 - g range), slo_no_mot _th<7:0> 15.63 mg (8 - g range), slo_no_mot _th<7:0> 31,25 mg (16 - g range) register 0x2a (int_8) contains the timing definitions for the single tap and double tap interrupts. name 0x2a int_8 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content tap_quiet tap_shock reserved reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 1 0 0 content reserved tap_dur<2:0> tap_quiet: selects a tap quiet duration of 0 ? 30 ms, 1 ? 20 ms tap_shock: selects a tap shock duration of 0 ? 50 ms, 1 ? 75 ms reserved: write 0 tap_dur<2:0>: 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. 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 0x2b int_9 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content tap_samp<1:0> reserved tap_th<4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset 1 0 1 0
datasheet e compass BMC150 page 92 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. value content tap_th<3:0> tap_samp<1:0>: selects the number of samples that are processed after wake - up in the low - power mode according to 00b ? 2 samples, 01b ? 4 samples, 10b ? 8 samples, and 11b ? 16 samples reserved: write 0 tap_th<3:0>: threshold of the single/double - tap interrupt corresponding to an acceleration difference of tap_th<3:0> 62.5mg (2g - range), tap_th<3:0> 125mg (4g - range), tap_th<3:0> 250mg (8g - range), and tap_th<3:0> 500mg (16g - range). register 0x2c (int_a) contains the definition of hysteresi s, blocking, and mode for the orientation interrupt name 0x2c int_a bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content reserved orient_hyst<2:0> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 0 content orient_blocking< 1:0> orient_mode<1:0> reserved: write 0 orient_hyst<2:0>: sets the hysteresis of the orientation interrupt; 1 lsb corresponds to 62.5 mg irrespective of the selected g - range orient_blocking<1:0>: selects the blocking mode that is used for the generation of the orientation interrupt. the following blocking modes are available: 00b ? no blocking, 01b ? theta blocking or acceleration in any axis > 1.5g, 10b ? ,theta blocking or acceleration s lope 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<1:0>: sets the thresh olds for switching between the different orientations. the settings: 00b ? symmetrical, 01b ? high - asymmetrical, 10b ? low - asymmetrical, 11b ? symmetrical.
datasheet e compass BMC150 page 93 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register 0x2d (int_b) contains the definition of the axis orientation, up/down masking, an d the theta blocking angle for the orientation interrupt. name 0x2d int_b bit 7 6 5 4 read/write r/w r/w r/w r/w reset value n/a 1 0 0 content reserved orient_ud_en orient_theta<5:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 0 content orient_theta<3:0> 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<5:0>: defines a blocking angle between 0 and 44.8 register 0x2e (int_c) contains the definition of the flat threshold angle for the flat interrupt. name 0x2e int_c bit 7 6 5 4 read/write r/w r/w r/w r/w reset value n/a n/a 0 0 content reserved flat_theta<5:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 0 content flat_theta<3:0> reserved: write 0 flat_theta<5:0>: defines threshold for detection of flat position in range from 0 to 44.8.
datasheet e compass BMC150 page 94 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register 0x2f (int_d) contains the definition of the flat interrupt hold time and flat interrupt hysteresis. name 0x2f int_d bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content reserved flat_hold_time<1:0> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 1 content reserved flat_hy<2:0> reserved: write 0 flat_hold_time<1:0>: 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<2:0>: defines flat interrupt hysteresis; flat value must change by mo re than twice the value of flat interrupt hysteresis to detect a state change.
datasheet e compass BMC150 page 95 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.12 self - test register 0x32 (pmu_self_test) contains the settings for the sensor self - test configuration and trigger. name 0x32 pmu_self_test bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved self_test_amp bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved_0 self_test_sign self_test - axis<1:0> reserved: write 0x0 reserved_0: write 0x0 self_test_amp; select amplitude of the selftest deflection 1 ? high, default value is low ( 0) self_test_sign: select sign of self - test excitation as 1 ? positive, or 0 ? negative self_test_axis: 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 self - test has been enabled a delay of a least 5 ms is necessary for the read - out value to settle
datasheet e compass BMC150 page 96 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.13 non - volatile memory control ( eeprom ) register 0x33 (trim_nvm_ctrl) contains the control settings for the few - time programmable non - volatile memory (nvm). name 0x33 trim_nvm_ctrl bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content nvm_remain<3:0> bit 3 2 1 0 read/write r/w r w r/w reset value 0 n/a 0 0 content nvm_load nvm_rdy nvm_prog_trig nvm_prog_mode nvm_remain<3:0>: 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_rem ain<3:0> 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
datasheet e compass BMC150 page 97 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.14 interface configuration register 0x34 (bgw_spi3_wdt) contains settings for the digital interfaces. name 0x34 bgw_spi3_wdt bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved i2c_wdt_en i2c_wdt_sel spi3 reserved: write 0 i2c_wdt_en: if i2c interface mode is selected then 1 ? enable, or 0 ? disables the watchdog at the sdi pin (= sda for i2c) i2c_wdt_sel: select an i2c watchdog timer period of 0 ? 1 ms, or 1 ? 50 ms spi3: select 0 ? 4 - wire spi, or 1 ? 3 - wire spi mode
datasheet e compass BMC150 page 98 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.15 offse t compensation register 0x36 (ofc_ctrl) contains control signals and configuration settings for the fast and the slow offset compensation. name 0x36 ofc_ctrl bit 7 6 5 4 read/write w w w r reset value 0 0 0 0 content offset_reset cal_trigger<1:0> cal_rdy bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content 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<1:0>: 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 c ompensation 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 register 0x37 (ofc_setting) contains configuration settings for the fast and the slow offset compensation. name 0x37 ofc_setting bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved offset_target_z<1:0> offset_target_y<1> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_target_y<0 > offset_target_x<1:0> cut_off
datasheet e compass BMC150 page 99 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. reserved: write 0 offset_target_z<1:0>: offset compensation target value for z - axis is 00b ? 0 g, 01b ? +1 g, 10b ? - 1 g, or 11b ? 0 g offset_target_y<1:0>: offset compensation target value for y - axis is 00b ? 0 g, 01b ? +1 g, 10b ? - 1 g, or 11b ? 0 g offset_target_x<1:0>: 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 register 0x38 (ofc_offset_x) contains the offset compensation value for x - axis acceleration readout data. name 0x38 ofc_offset_x bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_x<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_x<3:0> offset_target_x<7:0>: offset value, which is subtracted from the internal filtered and unfiltered x - axis acceleration data; the offset value is represented with twos complement notation, with a mapping of +127 ? +0.992g, 0 ? 0 g, and - 128 ? - 1 g; the scal ing is independent of the selected g - range; the content of the offset_x<7:0> may be written to the nvm; it is automatically restored from the nvm after each power - on or softreset; offset_x<7:0> may be written directly by the user; it is generated automatic ally after triggering the fast offset compensation procedure for the x - axis register 0x39 (ofc_offset_y) contains the offset compensation value for y - axis acceleration readout data. name 0x39 ofc_offset_y bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_y<7:4>
datasheet e compass BMC150 page 100 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_y<3:0> offset_target_y<7:0>: offset value, which is subtracted from the internal filtered and unfiltered y - axis acceleration data; the offset value is represented with twos 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<7:0> may be written to the nvm; it is automatically restored from the nvm after each power - on or softreset; offset_y<7:0> may be written directly by the user; it is gene rated automatically after triggering the fast offset compensation procedure for the y - axis register 0x3a (ofc_offset_z) contains the offset compensation value for z - axis acceleration readout data. name 0x3a ofc_offset_z bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_z<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_z<3:0> offset_target_z<7:0>: offset value, which is subtracted from the internal filtered and unfiltered z - axis acceleration data; the offset value is represented with twos 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<7:0> may be written to the nvm; it is automatically restored from the nvm after each power - on or softreset; offset_z<7:0> may be written directly by the user; it is generated automatically after triggering the fast offset compensation procedure for the z - axis
datasheet e compass BMC150 page 101 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.16 non - volatile memory back - up register 0x3b (trim_gp0) contains general purpose data register with nvm back - up. name 0x3b trim_gp0 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content gp0<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content gp0<3:0> gp0<7:0>: 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 register 0x3c (trim_gp1) contains general purpose data register with nvm back - up. name 0x3c trim_gp1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content gp1<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content gp1<3:0> gp1<7:0>: 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
datasheet e compass BMC150 page 102 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 6.17 fifo configuration and fifo data register 0x30 (fifo_config_0) contains the fifo watermark level. name 0x30 fifo_config_0 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value n/a n/a 0 0 content reserved fifo_water_mark_level_trigger_ retain<5:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content fifo_water_mark_level_trigger_retain<3:0> reserved: write 0 fifo_water_mark_level_trigger_retain<5:0>: fifo_water_mark_level_trigger_retain<5:0> 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<5:0>; 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 0x3e fifo_config_1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content fifo_mode<1:0> reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved fifo_data_select<1:0> fifo_mode<1:0>: 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 dis carded), 11b ? reserved, do not use
datasheet e compass BMC150 page 103 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. fifo_data_select<1:0>: selects whether 00b ? x+y+z, 01b ? x only, 10b ? y only, 11b ? z only acceleration data are stored in the fifo. register 0x3f (fifo_data) fifo data readout register. the f ormat of the l sb 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 0x3f fifo_data bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content fifo_data_output_register<7:4> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content fifo_data_output_register<3:0> fifo_data_output_register<7:0>: fifo data readout; data format depends on the setting of register fifo_data_select<1:0>: 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
datasheet e compass BMC150 page 104 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 7. magnetometer register descrip tion 7.1 general remarks the entire communication with the devices magnetometer part is performed by reading from and wri ting 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 th e 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 r egisters. registers with addresses from (0x40) up to (0x4a) are read - only. any attempt to write to these registers is ignored. 7.2 register map register address default value bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 0x71 n/a 0x70 n/a 0x6f n/a 0x6e n/a 0x6d n/a 0x6c n/a 0x6b n/a 0x6a n/a 0x69 n/a 0x68 n/a 0x67 n/a 0x66 n/a 0x65 n/a 0x64 n/a 0x63 n/a 0x62 n/a 0x61 n/a 0x60 n/a 0x5f n/a 0x5e n/a 0x5d n/a 0x5c n/a 0x5b n/a 0x5a n/a 0x59 n/a 0x58 n/a 0x57 n/a 0x56 n/a 0x55 n/a 0x54 n/a 0x53 n/a 0x52 0x00 0x51 0x00 0x50 0x00 0x4f 0x00 0x4e 0x07 data ready pin en interrupt pin en channel z channel y channel x dr polarity interrupt latch interrupt polarity 0x4d 0x3f data overrun en overflow int en high int z en high int y en high int x en low int z en low int y en low int x en 0x4c 0x06 self test 0x4b 0x01 soft reset '1' fixed '0' fixed '0' fixed '0' fixed '0' spi3en soft reset '1' power control bit 0x4a 0x00 data overrun overflow high int z high int y high int x low int z low int y low int x 0x49 n/a 0x48 n/a fixed '0' data ready status 0x47 n/a 0x46 n/a z-self-test 0x45 n/a 0x44 n/a fixed '0' fixed '0' y-self-test 0x43 n/a 0x42 n/a fixed '0' fixed '0' x-self-test 0x41 n/a 0x40 0x32 w/r w/r accessible in suspend mode read only reserved reserved reserved chip id = 0x32 (can only be read if power control bit ="1") repz number of repetitions (valid for z) [7:0] repxy number of repetitions (valid for xy) [7:0] data x [12:5] msb data x [4:0] lsb data z [14:7] msb rhall [5:0] lsb data y [12:5] msb data y [4:0] lsb high threshold [7:0] low threshold [7:0] adv. st [1:0] data rate [2:0] data z [6:0] lsb opmode [1:0] rhall [13:6] msb
datasheet e compass BMC150 page 105 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 7.3 chip id 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 26 : 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 register (0x41) is reserved 7.4 magnetic field data register (0x42) contains the lsb part of x - axis magnetic field data and the self - test result flag for the x - axis. table 27 : lsb part of x - axis magnetic field, register (0x42) (0x42) bit name description bit 7 datax_lsb <4> bit 4 of x - axis magnetic field data bit 6 datax_lsb <3> bit 3 of x - axis magnetic field data bit 5 datax_lsb <2> bit 2 of x - axis magnetic field data bit 4 datax_lsb <1> bit 1 of x - axis magnetic field data bit 3 datax_lsb <0> bit 0 of x - axis magnetic field data = x lsb bit 2 - (fixed to 0) bit 1 - (fixed to 0) bit 0 selftestx self - test result flag for x - axis, default is 1 register (0x43) contains the msb part of x - axis magnetic field data. table 28 : msb part of x - axis magnetic field, register (0x43) (0x43) bit name description bit 7 datax_msb <12> bit 12 of x - axis magnetic field data = x msb bit 6 datax_msb <11> bit 11 of x - axis magnetic field data bit 5 datax_msb <10> bit 10 of x - axis magnetic field data bit 4 datax_msb <9> bit 9 of x - axis magnetic field data bit 3 datax_msb <8> bit 8 of x - axis magnetic field data bit 2 datax_msb <7> bit 7 of x - axis magnetic field data bit 1 datax_msb <6> bit 6 of x - axis magnetic field data bit 0 datax_msb <5> bit 5 of x - axis magnetic field data
datasheet e compass BMC150 page 106 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register (0x44) contains the lsb part of y - axis magnetic field data and the self - test result flag for the y - axis. table 29 : lsb part of y - axis magnetic field, register (0x44) (0x44) bit name description bit 7 datay_lsb <4> bit 4 of y - axis magnetic field data bit 6 datay_lsb <3> bit 3 of y - axis magnetic field data bit 5 datay_lsb <2> bit 2 of y - axis magnetic field data bit 4 datay_lsb <1> bit 1 of y - axis magnetic field data bit 3 datay_lsb <0> bit 0 of y - axis magnetic field data = y lsb bit 2 - (fixed to 0) bit 1 - (fixed to 0) bit 0 selftesty self - test result flag for y - axis, default is 1 register (0x45) contains the msb part of y - axis magnetic field data. table 30 : msb part of y - axis magnetic field, register (0x45) (0x45) bit name description bit 7 datay_msb <12> bit 12 of y - axis magnetic field data = y msb bit 6 datay_msb <11> bit 11 of y - axis magnetic field data bit 5 datay_msb <10> bit 10 of y - axis magnetic field data bit 4 datay_msb <9> bit 9 of y - axis magnetic field data bit 3 datay_msb <8> bit 8 of y - axis magnetic field data bit 2 datay_msb <7> bit 7 of y - axis magnetic field data bit 1 datay_msb <6> bit 6 of y - axis magnetic field data bit 0 datay_msb <5> bit 5 of y - axis magnetic field data register (0x46) contains the lsb part of z - axis magnetic field data and the self - test result flag for the z - axis. table 31 : lsb part of z - axis magnetic field, register (0x46) (0x46) bit name description bit 7 dataz_lsb <6> bit 6 of z - axis magnetic field data bit 6 dataz_lsb <5> bit 5 of z - axis magnetic field data bit 5 dataz_lsb <4> bit 4 of z - axis magnetic field data bit 4 dataz_lsb <3> bit 3 of z - axis magnetic field data bit 3 dataz_lsb <2> bit 2 of z - axis magnetic field data bit 2 dataz_lsb <1> bit 1 of z - axis magnetic field data bit 1 dataz_lsb <0> bit 0 of z - axis magnetic field data = z lsb bit 0 selftestz self - test result flag for z - axis, default is 1
datasheet e compass BMC150 page 107 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register (0x47) contains the msb part of z - axis magnetic field data. table 32 : msb part of z - axis magnetic field, register (0x47) (0x47) bit name description bit 7 dataz_msb <14> bit 14 of y - axis magnetic field data = z msb bit 6 dataz_msb <13> bit 13 of y - axis magnetic field data bit 5 dataz_msb <12> bit 12 of y - axis magnetic field data bit 4 dataz_msb <11> bit 11 of y - axis magnetic field data bit 3 dataz_msb <10> bit 10 of y - axis magnetic field data bit 2 dataz_msb <9> bit 9 of y - axis magnetic field data bit 1 dataz_msb <8> bit 8 of y - axis magnetic field data bit 0 dataz_msb <7> bit 7 of y - axis magnetic field data register (0x48) contains the lsb part of hall resistance and the data ready (drdy) status bit. table 33 : lsb part of hall resistance, register (0x48) (0x48) bit name description bit 7 rhall_lsb <5> bit 5 of hall resistance bit 6 rhall_lsb <4> bit 4 of hall resistance bit 5 rhall_lsb <3> bit 3 of hall resistance bit 4 rhall_lsb <2> bit 2 of hall resistance bit 3 rhall_lsb <1> bit 1 of hall resistance bit 2 rhall_lsb <0> bit 0 of hall resistance = rhall lsb bit 1 - (fixed to 0) bit 0 data ready status data ready (drdy) status bit register (0x49) contains the msb part of hall resistance. table 34 : msb part of hall resistance, register (0x49) (0x49) bit name description bit 7 rhall_msb <13> bit 13 of hall resistance = rhall msb bit 6 rhall_msb <12> bit 12 of hall resistance bit 5 rhall_msb <11> bit 11 of hall resistance bit 4 rhall_msb <10> bit 10 of hall resistance bit 3 rhall_msb <9> bit 9 of hall resistance bit 2 rhall_msb <8> bit 8 of hall resistance bit 1 rhall_msb <7> bit 7 of hall resistance bit 0 rhall_msb <6> bit 6 of hall resistance
datasheet e compass BMC150 page 108 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 7.5 interrupt status register register (0x4a) contains the states of all magnetometer interrupts. table 35 : interrupt status, register (0x4a) (0x4a) bit name description bit 7 data overrun data overrun status flag bit 6 overflow overflow status flag bit 5 high int z high - threshold interrupt z - axis status flag bit 4 high int y high - threshold interrupt y - axis status flag bit 3 high int x high - threshold interrupt x - axis status flag bit 2 low int z low - threshold interrupt z - axis status flag bit 1 low int y low - threshold interrupt y - axis status flag bit 0 low int x low - threshold interrupt x - axis status flag
datasheet e compass BMC150 page 109 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 7.6 power and operation modes, self - test and data output rate control registers 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 d evice 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 in to 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 4.2.2 for details of magnetometer power modes). table 36 : power control, soft reset and spi mode control register (0x4b) (0x4b) bit name description bit 7 soft reset 1 one of the soft reset trigger bits. bit 6 - (fixed to 0) bit 5 - (fixed to 0) bit 4 - (fixed to 0) bit 3 - (fixed to 0) bit 2 spi3en enable bit for spi3 mode bit 1 soft reset 1 one of the soft reset trigger bits. bit 0 power control bit when set to 0, suspend mode is selected
datasheet e compass BMC150 page 110 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 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 4.4.2 for details of the magnetometer advanced self - test). the three data rate bits control the magnetometer output data rate according to below table 38 . the two opmode bits control the operation mode according to below table 39 (see ch apter 4.2.2 for a detailed descriptio n of magnetometer power modes). table 37 : operation mode, output data rate and self - te st control register (0x4c) (0x4c) bit name description bit 7 adv. st <1> advanced self - test control bit 1 bit 6 adv. st <0> advanced self - test control bit 0 bit 5 data rate <2> data rate control bit 2 bit 4 data rate <1> data rate control bit 1 bit 3 data rate <0> data rate control bit 0 bit 2 opmode <1> operation mode control bit 1 bit 1 opmode <0> operation mode control bit 0 bit 0 self test normal self - test control bit three data rate bits control the output data rate (odr) of the bm c 150 magnetometer part: table 38 : output data rate (odr) setting (0x4c) (0x4c) data rate <2:0> magnetometer output data rate (odr) [hz] 000b 10 (default) 001b 2 010b 6 011b 8 100b 15 101b 20 110b 25 111b 30 two opmode bits control the operation mode of the bm c 150 magnetometer part: table 39 : operation mode setting (0x4c) (0x4c) opmode <1:0> magnetometer operation mode 8 00b normal mode 01b forced mode 10b reserved, do not use 11b sleep mode 8 see chapter 4.2.2 for a detailed description of magnetometer power modes.
datasheet e compass BMC150 page 111 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 7.7 interrupt and axis enable settings control registers register (0x4d) contains control bits for interrupt settings. (also refer to chapter 0 for the details of magnetometer interrupt operation). table 40 : interrupt settings control register (0x4d) (0x4d) bit name description bit 7 data overrun en enables data overrun indication in the data overrun is 0 disabled) (active high, default is 0 disabled) interrupts (active low, default is 1 disabled) interrupts (active low, default is 1 disabled) interrupts (active low, default is 1 disabled) interrupts (active low, default is 1 disabled) interrupts (active low, default is 1 disabled) interrupts (active low, default is 1 disabled)
datasheet e compass BMC150 page 112 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register (0x4e) contains control bits interrupt settings and axes enable bits. (also refer to chapter 0 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 chann el 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 val ue. table 41 : interrupt settings and axes enable bits control register (0x4e) (0x4e) bit name description bit 7 data ready pin en enables data ready status mapping on drdy pin (active high, default is 0 disabled) (active high, default is 0 disabled) (active low, default is 0 enabled) (active low, default is 0 (active low, default is 0 enabled) (0 is active low, 1 is active high, default is 1 (0 means non C as the condition is fulfilled, 1 means latched C is read, default is 1 latched) (1 C is active high, 0 is active low, default is 1 register (0x4f) contains the low - threshold interrupt threshold setting. (also refer to chapter 0 for the details of magnetometer interrupt operation and the threshold setting). table 42 : low - threshold interrupt threshold setting control register (0x4f) (0x4f) bit name description bit 7 lowthreshold <7> bit 7 of low - threshold interrupt threshold setting bit 6 lowthreshold <6> bit 6 of low - threshold interrupt threshold setting bit 5 lowthreshold <5> bit 5 of low - threshold interrupt threshold setting bit 4 lowthreshold <4> bit 4 of low - threshold interrupt threshold setting bit 3 lowthreshold <3> bit 3 of low - threshold interrupt threshold setting bit 2 lowthreshold <2> bit 2 of low - threshold interrupt threshold setting bit 1 lowthreshold <1> bit 1 of low - threshold interrupt threshold setting bit 0 lowthreshold <0> bit 0 of low - threshold interrupt threshold setting
datasheet e compass BMC150 page 113 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register (0x50) contains the high - threshold interrupt threshold setting. (also refer to chapter 0 for the details of magnetometer interrupt operation and the threshold setting). table 43 : high - threshold interrupt threshol d setting control register (0x4f) (0x50) bit name description bit 7 highthreshold <7> bit 7 of high - threshold interrupt threshold setting bit 6 highthreshold <6> bit 6 of high - threshold interrupt threshold setting bit 5 highthreshold <5> bit 5 of high - threshold interrupt threshold setting bit 4 highthreshold <4> bit 4 of high - threshold interrupt threshold setting bit 3 highthreshold <3> bit 3 of high - threshold interrupt threshold setting bit 2 highthreshold <2> bit 2 of high - threshold interrupt threshold setting bit 1 highthreshold <1> bit 1 of high - threshold interrupt threshold setting bit 0 highthreshold <0> bit 0 of high - threshold interrupt threshold setting 7.8 number of repetitions control registers register (0x51) contains the number of repetitions for x/y - axis. table 45 below shows the number of repetitions resulting out of the register configuration. the perf ormed 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 : table 44 : x /y - axis repetitions control regist er (0x51) (0x51) bit name description bit 7 repxy <7> bit 7 of number of repetitions (valid for xy) bit 6 repxy <6> bit 6 of number of repetitions (valid for xy) bit 5 repxy <5> bit 5 of number of repetitions (valid for xy) bit 4 repxy <4> bit 4 of number of repetitions (valid for xy) bit 3 repxy <3> bit 3 of number of repetitions (valid for xy) bit 2 repxy <2> bit 2 of number of repetitions (valid for xy) bit 1 repxy <1> bit 1 of number of repetitions (valid for xy) bit 0 repxy <0> bit 0 of number of repetitions (valid for xy) table 45 : numbers of repetition for x/y - axis depending on value of register (0x51) (0x51) register value (binary) (0x51) register value (hex) number of repetitions for x - and y - axis each 00000000b 0x00h 1 00000001b 0x01h 3 00000010b 0x02h 5 00000011b 0x03h 7 ) ( ) ( repxy b b b b b b b b nxy ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 2 1 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 1 0 1 2 3 4 5 6 7
datasheet e compass BMC150 page 114 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. register (0x52) contains the number of repetitions for z - axis. table 47 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 : table 46 : z - axis repetitions control register (0x52) (0x52) bit name description bit 7 repz <7> bit 7 of number of repetitions (valid for z) bit 6 repz <6> bit 6 of number of repetitions (valid for z) bit 5 repz <5> bit 5 of number of repetitions (valid for z) bit 4 repz <4> bit 4 of number of repetitions (valid for z) bit 3 repz <3> bit 3 of number of repetitions (valid for z) bit 2 repz <2> bit 2 of number of repetitions (valid for z) bit 1 repz <1> bit 1 of number of repetitions (valid for z) bit 0 repz <0> bit 0 of number of repetitions (valid for z) table 47 : 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 0x00h 1 00000001b 0x01h 2 00000010b 0x02h 3 00000011b 0x03h 4 repz b b b b b b b b nz ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 1 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 1 1 0 1 2 3 4 5 6 7 ) (
datasheet e compass BMC150 page 115 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 8. digital interfaces the bmc 1 5 0 supports two serial digital interface protocols for communication as a slave with a host device for each of the accelerometer and magnetometer part: spi and i2c . a ccelerometer part and magnetometer part alone operate either both in i2c mode or either both in spi mode, mixed communication protocols are not possible because the interface pins are shared. the active interface is selected by the state of the p rotocol select pin (ps): 0 (1) selects spi (i2c) . 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 for both the accelerometer part and magnetometer part. both interfaces share the same pins. the mapping for each interface is given in the fol lowing table: table 48 : mapping of the interface pins pin# name use w/ spi use w/ i2c description 1 sdo sdo accelerometer and magnetometer part i2c address selection spi: data output (4 - wire mode) i2c: used to set lsb of i2c address of accelerometer part and magnetometer part 1 4 sd i sdi sda spi: data input (4 - wire mode) data input / output (3 - wire mode) i2c: serial data 12 csb csb magnetometer part i2c address selection spi: chip select for accelerometer and magnetometer part (enable) i2c: used to set bit1 of i2c address of magnetometer part , always high in i 2 c mode 1 1 sc k sck scl spi: serial clock i2c: serial clock
datasheet e compass BMC150 page 116 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. the following table shows the electrical specifications of the interface pins: table 49 : electrical specification of the interface pins parameter symbol condition min typ max unit pull - up resistance csb in spi mode r up, spi internal pull - up resistance to vddio 37 55 74 k ? up, i2c internal pull - up resistance to vddio 70 120 190 k ? in 2 0 pf i2c bus load capacitance (max. drive capability) c i2c_load 400 pf 8.1 serial peripheral interface (spi) the timing specification for spi of the bmc 150 is given in the following table: table 50 : spi timing for bmc 150 accelerometer and magnetometer part parameter symbol condition min max unit clock frequency f spi max. load on sdi or sdo = 25pf 10 mhz sck low pulse t sckl 20 ns sck high pulse t sckh 20 ns sdi setup time t sdi_setup 20 ns sdi hold time t sdi_hold 20 ns sdo output delay t sdo_od load = 25pf 30 ns load = 250pf, v ddio = 2.4v 40 ns csb setup time t csb_setup 20 ns csb hold time t csb_hold 40 ns the following figure shows the definition of the spi timings given in table 50 : figure 19 : spi timing diagram t s d i _ h o l d t s c k h t c s b _ h o l d t c s b _ s e t u p t s d i _ s e t u p t s c k l t s d o _ o d c s b s c k s d i s d o
datasheet e compass BMC150 page 117 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. the spi interface of the bmc 1 5 0 is compatible with two modes, 00 and 11. the automatic selection between [cpol = 0 and cpha = 0] and [cpol = 1 and cpha = 1] is done based on the value of sck after a falling edge of csb. two configurations of t he spi interface are supported by the bmc 1 5 0 : 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 (0x34) spi3 for the accelerometer part and writing 1 to (0x4b) spi3en for the magnetometer part (after power control bit was set). 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 ar e used. the bmc 1 5 0 also supports multiple - byte read operations. in spi 4 - wire configuration csb (chip select low active), sck (serial clock), sdi (serial data input), and sdo (serial data output) pins are used. the communication starts when the csb is pulled low by the spi master and stops when csb is pulled high. sck is also controlled by spi m aster. sdi and sdo are driven at the falling edge of sck and should be captured at the rising edge of sck. the basic write operation waveform for 4 - wire configuration is depicted in figure 20 . during the entire write cycle sdo remains in high - impedance state. figure 20 : 4 - wire basic spi write sequence (mode 11) the basic read operation waveform for 4 - wire configuration is depicted in figure 21 : csb sck sdi r/w ad6 ad 5 ad 4 ad 3 ad 2 ad1 ad0 di5 di4 di3 di2 di1 di0 di7 di6 sdo tri - state z
datasheet e compass BMC150 page 118 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. figure 21 : 4 - wire basic spi read sequence (mode 11) 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. note that a comple te burst read over accelerometer and magnetometer register addresses is not supported. instead, a second burst read must be started at address 0x40 if the entire BMC150 memory map is to be read. the principle of multiple read is shown in figure 22 : figure 22 : spi multiple read in spi 3 - wire configuration csb (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 d riven (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 b asic operation waveform (read or write access) for 3 - wire configuration is depicted in figure 23 : cs b sc k sd i r/w ad 6 ad 5 a d 4 a d 3 a d 2 ad 1 ad 0 sd o do 5 do 4 do 3 do 2 do 1 do 0 do 7 do 6 tr i - stat e start rw stop 1 0 0 0 0 0 1 0 x x x x x x x x x x x x x x x x x x x x x x x x register adress (02h) csb = 0 csb = 1 data byte data byte data register - adress 03h data register - adress 04h control byte data byte data register - adress 02h
datasheet e compass BMC150 page 119 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. figure 23 : 3 - wire basic spi read or write sequence (mode 11) csb sck sdi rw a d 6 ad5 ad4 ad3 ad2 ad1 ad0 di5 di4 di3 di2 di1 di0 di7 di6
datasheet e compass BMC150 page 120 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 8.2 inter - integrated circuit (i2c) the i2c bus uses scl (= sc k pin, serial clock) and sda (= sd i pin, serial data input and output) signal lines. both lines must be connected to v ddio externally via pull - up resistors so that they are pulled high when the bus is free. the i2c interface of the bmc 1 5 0 is compatible with the i2c specification um10204 rev. 03 (19 june 2007), available at http://www.nxp.c om . the bmc 150 supports i2c standard mode and fast mode, only 7 - bit address mode is supported. for v ddio = 1.2v to 1.8v the guaranteed voltage output levels are slightly relaxed as described in the parameter specification ( table 1 ). an overview is given in the table below: table 51 : bmc 1 5 0 i2c addresses csb pin sdo pin accelerometer part i2c address magnetometer part i2c address vddio gnd 0x10 0x12 vddio vddio 0x11 0x13
datasheet e compass BMC150 page 121 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. the timing specification for i2c of the bmc 150 is given in : table 52 : i2c timings parameter symbol condition min max units clock frequency f scl 400 khz scl low period t low 1.3 s scl high period t high 0.6 sda setup time t sudat 0.1 sda hold time t hddat 0.0 setup time for a repeated start condition t susta 0.6 hold time for a start condition t hdsta 0.6 setup time for a stop condition t susto 0.6 time before a new transmission can start t buf 1.3 idle time between write accesses, normal mode, standby mode, low - power mode 2 t idle_wacc_n m 2 idle time between write accesses, suspend mode, low - power mode 1 t idle_wacc_s um 450
datasheet e compass BMC150 page 122 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. below figure shows the definition of the i2c timings given in table 52 : i2c timings : figure 24 : i2c timing diagram t hddat t f t buf s d a s c l s d a t low t hdsta t r t susta t high t sudat t susto
datasheet e compass BMC150 page 123 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 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 r eceiver. 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 diagra ms these abbreviations are used: s start p stop acks acknowledge by slave ackm acknowledge by master nackm not acknowledge by master rw read / write a start immediately followed by a stop (without sck toggling from logic 1 to logic 0) is not supported. if such a combination occurs, the stop is not recognized by the device.
datasheet e compass BMC150 page 124 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. i2c write access: i2c write access can be used to write a data byte in one sequence. the sequence begins with start condition generated by the master, followed by 7 bits slave address and a write bit (rw = 0). the slave sends an acknowledge bit (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: figure 25 : example of an i2c write access 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 to gether 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 t he 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 in the accelerometer part of bmc 1 5 0 . the wdt observes internal i2c signals and resets the i2c interface if the bus is locked - up by the bmc 1 5 0 accelerometer part. the activity and the timer period of the wdt can be configured through the bits (0x34) i2c_wdt_en and (0x34) i2c_wdt_sel . writing 1 (0?) to (0x34) i2c_wdt_en activates (de - activates) the wdt. writing 0 (1) to (0x34) i2c_wdt_se selects a timer period of 1 ms (50 ms). start rw acks acks acks stop 0 0 1 0 0 0 0 0 0 0 0 1 0 0 0 0 x x x x x x x x s slave adress register adress (0x10) p control byte data byte data (0x09)
datasheet e compass BMC150 page 125 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. example of an i2c multiple read accesses: figure 26 : example of an i2c multiple read access 8.2.1 spi and i2c access restrictions in order to allow for the correct internal synchronisation of data written to the bmc 150 accelerometer, certain access restrictions apply for consecutive write accesses or a write/read sequence through the spi as wel l as i2c interface. the required waiting period depends on whether the device is operating in normal mode (or standby mode, or low - power mode 2) or suspend mode (or low - power mode 1). as illustrated in figure 21, an interface idle time of at least 2 s is required following a write operation when the device operates in normal mode (or standby mode, or low - power mode 2). in suspend mode (or low - power mode 1) an interface idle time of least 450 s is required. figure 27 : post - wri te access timing constraints for the magnetometer, only the power control bit can be accessed in suspend mode. after setting power control to 1, the user must wait t s_up,m before the other registers can be accessed. these can then be accessed without any restrictions. start rw acks ackm ackm 0 0 1 0 0 0 0 1 x x x x x x x x x x x x x x x x ackm ackm x x x x x x x x x x x x x x x x ackm nack stop x x x x x x x x x x x x x x x x read data (0x04) read data (0x05) p data byte data byte read data (0x06) read data (0x07) data byte data byte read data (0x03) data byte data byte sr slave adress read data (0x02) x - after - write register update period ( > 2 us / 450 us ) write - operation x - operation
datasheet e compass BMC150 page 126 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 9. pin - out and connection diagram 9.1 pin - out figure 28 : pin - out top view figure 29 : pin - out bottom view table 53 : pin description pin name i/o type sensor description connect to s pi 4w spi 3w i2c 1 sdo out mag+acc spi: data out sdo / miso dnc (float) gnd for default address 2 int1 out acc interrupt output #1 int 1 input or dnc if unused 3 int2 out acc interrupt output #2 int2 input or dnc if unused 4 drdy out mag data ready drdy input or dnc if unused 5 int3 out mag interrupt output #3 int3 input or dnc if unused 6 gnd supply mag+acc ground gnd 7 gnd supply mag+acc ground gnd 8 vdd supply mag+acc supply voltage v dd 9 gnd supply mag+acc ground gnd 10 vddio supply mag+acc i/o voltage v ddio 11 sck in mag+acc serial clock sck sck scl 12 csb in mag+acc chip select csb csb dnc (float) or v ddio 13 ps in mag+acc protocol select gnd gnd v ddio 14 sdi in/out mag+acc spi: data in, i2c: data sdi / mosi sda sda t o p v i e w ( p a d s n o t v i s i b l e ) 1 s d o 2 i n t 1 3 i n t 2 4 d r d y 1 1 s c k 1 0 v d d i o 9 g n d 8 v d d 1 2 c s b 1 3 p s 1 4 s d i 7 g n d 6 g n d 5 i n t 3 b o t t o m v i e w ( p a d s v i s i b l e ) 1 1 s c k 1 0 v d d i o 9 g n d 8 v d d 1 s d o 2 i n t 1 3 i n t 2 4 d r d y 1 4 s d i 1 3 p s 1 2 c s b 5 i n t 3 6 g n d 7 g n d
datasheet e compass BMC150 page 127 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 9.2 connection diagram 4 - wire spi figure 30 : 4 - wire spi connection diagram note: the recommended value for c 1 and c 2 is 100 nf. t o p v i e w ( p a d s n o t v i s i b l e ) 1 s d o s c k s d o 2 i n t 1 3 i n t 2 4 d r d y 1 1 s c k 1 0 v d d i o 9 g n d 8 v d d 1 2 c s b 1 3 p s 1 4 s d i 7 g n d 6 g n d 5 i n t 3 c 2 c 1 v d d v d d i o i n t 3 o r n c i n t 1 o r n c i n t 2 o r n c d r d y o r n c s d i c s b
datasheet e compass BMC150 page 128 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 9.3 connection diagram 3 - wire spi figure 31 : 3 - wire spi connection diagram note: the recommended value for c 1 and c 2 is 100 nf. t o p v i e w ( p a d s n o t v i s i b l e ) 1 s d o s c k 2 i n t 1 3 i n t 2 4 d r d y 1 1 s c k 1 0 v d d i o 9 g n d 8 v d d 1 2 c s b 1 3 p s 1 4 s d i 7 g n d 6 g n d 5 i n t 3 c 2 c 1 v d d v d d i o i n t 3 o r n c i n t 1 o r n c i n t 2 o r n c d r d y o r n c s d i / s d o c s b
datasheet e compass BMC150 page 129 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 9.4 connection diagram i 2 c figure 32 : i2c connection diagram note: the recommended value for c 1 and c 2 is 100 nf. t o p v i e w ( p a d s n o t v i s i b l e ) 1 s d o s c l 2 i n t 1 3 i n t 2 4 d r d y 1 1 s c k 1 0 v d d i o 9 g n d 8 v d d 1 2 c s b 1 3 p s 1 4 s d i 7 g n d 6 g n d 5 i n t 3 c 2 c 1 v d d v d d i o i n t 3 o r n c i n t 1 o r n c i n t 2 o r n c d r d y o r n c s d a i 2 c a d d r e s s b i t 0 g n d : 0 ; v d d i o : ' 1 '
datasheet e compass BMC150 page 130 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10. package 10.1 outline dimensions the sensor housing is a standard lga 2.2 x 2.2 1 4 - lead package. its dimensions are the following: figure 33 : package outline dimensions
datasheet e compass BMC150 page 131 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.2 sensing axes orientation the magnetic and acceleration s ensing axes of the bmc 1 5 0 are matching. if the sensor is accelerated in the indicated directions, the corresponding channel will deliver a positive acceleration sig nal (dynamic acceleration). if the sensor is at rest and the force of gravity is acting along the indicated directions, the output of the corresponding channel will be negative (static acceleration). if a positive magnetic field is applied in the indicated directions, the corresponding channel will deliver a positive acceleration signal. example: if the sensor is at rest or at uniform motion in a gravitational and magnetic field according to the figure given below, the output signals are ? 0 g for the x acc eleration channel, 0 t for the x magnetic channel ? 0 g for the y acceleration channel, 0 t for the y magnetic channel ? +1 g for the z acceleration channel, - |b| for the z magnetic channel figure 34 : orientation of sensing axes (acceleration and magnetic) please note that the planets n orth pole is a magnetic south pole. this means that when the bmc 1 5 0 s x axis points towards the n orth pole, the measured field will be negative. the following table lists all corresponding output signals on x, y, and z while the sensor is at rest or at uniform motion in a gravity field under assumption of a 2g range setting and a top down gravity and magnetic vector as shown above. table 54 : output signals depending on sensor orientation sensor orientation (gravity vector ? = acceleration vector ? , magnetic vector ? ) output signal x 0g / 0lsb 0 t +1g / 256lsb - |b| t 0g / 0lsb 0 t - 1g / - 256lsb + |b| t 0g / 0lsb 0 t 0g / 0lsb 0 t output signal y - 1g / - 256lsb +|b| t 0g / 0lsb 0 t +1g / 256lsb - |b| t 0g / 0lsb 0 t 0g / 0lsb 0 t 0g / 0lsb 0 t output signal z 0g / 0lsb 0 t 0g / 0lsb 0 t 0g / 0lsb 0 t 0g / 0lsb 0 t +1g / 256lsb - |b| t - 1g / - 256lsb +|b| t upright upright n s b
datasheet e compass BMC150 page 132 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.3 android axes orientation the android coordinate system is shown in figure 35 . 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 fr ont face of the screen. in this system, coordi nates behind the screen have negative z values. figure 35 : android coordinate system attitude terms are defined in the following way (see figure 36 ): ? heading / azimuth C 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 C rotation around x axis ( - 180 to 180), with positive values when the z - axis moves toward the y - axis. ? roll C rotation around y axis ( - 90 to 90), with positive values when the x - axis moves toward the z - axis.
datasheet e compass BMC150 page 133 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. figure 36 : heading, pitch and roll in android coordinate frame
datasheet e compass BMC150 page 134 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.4 landing pattern recommendation for the design of the landing pattern, we recommend the following dimensioning: figure 37 : landing patterns relative to the device pins, dimensions are in mm
datasheet e compass BMC150 page 135 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.5 marking 10.5.1 mass production devices table 55 : marking of mass production samples labeling name symbol remark first letter of second row t internal use second letter of second row l internal use lot counter ccc numerical counter pin 1 identifier ? engineering samples table 56 : marking of engineering samples labeling name symbol remark product number t 1 alphanumeric digit, fixed to identify product type, t = c a samples, c for c ? ccc ? tl txx ? y+
datasheet e compass BMC150 page 136 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.6 soldering guidelines the moisture sensitivity level of the bmc 1 5 0 senso rs corresponds to jedec level 1, see also: ? ipc/jedec j - std - 020c joint industry standard: moisture/reflow sensitivity classification for non - hermetic solid state surface mount devices ? ipc/jedec j - std - 033a joint industry standard: handling, packing, shipping and use of moisture/reflow sensitive surface mount devices . the sensor fulfils the lead - free soldering requirements of the above - mentioned ipc/jedec standard, i.e. reflow soldering with a peak temperature up to 260c. figure 38 : soldering profile
datasheet e compass BMC150 page 137 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.7 handling instructions micromechanical sensors are d esigned 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. however, these limits might be exceeded in c onditions 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 avoiding g - forces beyond the specified limits during transport, handling and mounting of the sensors in a def ined 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 spec ified, 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.
datasheet e compass BMC150 page 138 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.8 tape and reel specification 10.8.1 tape and reel dimensions the following picture describes the dimensions of the tape used for shipping the bmc 1 5 0 sensor device. the material of the tape is made of conductive polystyrene (iv). figure 39 : tape and reel dimensions in mm 10.8.2 orientation within the reel ? processing direction ? figure 40 : orientation of the bmc 1 5 0 devices relative to the tape
datasheet e compass BMC150 page 139 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 10.9 environmental safety the bmc 1 5 0 sensor meets the requirements of the ec restriction of hazardous substances (rohs) 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. 10.9.1 halogen content the bmc 1 5 0 is halogen - free. for more details on the analysis results please contact your bosch sensortec representative. 10.9.2 internal package structure within the scope of bosch sensortecs ambition to impro ve its products and secure the mass product supply, bosch sensortec qualifies additional sources (e.g. 2 nd source) for the lga package of the bmc 1 5 0 . 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 t he usage or to the quality of the bmc 1 5 0 product.
datasheet e compass BMC150 page 140 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 11. legal disclaimer 11.1 engineering samples engineering samples are marked with an asterisk (*) or (e) or (e). samples may vary from the valid technical specifications of the product series contained in this data sheet. they are therefore not intended or fit for resale to third parties or for use in end products. their sole purpose is internal client testing. the testing of an engineering sample may in no way replace the testing of a product series. bosch sensorte c 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. 11.2 product use bosch sensortec products are developed for the consumer goods industry. they m ay 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 prop erty 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 purchasers 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 s ensortec 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. 11.3 application examples and hints with respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, bosch sensortec hereby disclaims any and all warranties and liabilities of any kind, including without limitation warranties of non - infringement of intellectual property rights or copyrights of any third party. the information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. they are pro vided for illustrative purposes only and no evaluation regarding infringement of intellectual property rights or copyrights or regarding functionality, performance or error has been made.
datasheet e compass BMC150 page 141 confidential bst - BMC150 - ds00 0 - 0 3 | revision 0. 4 | february 20 1 3 bosch sensortec ? b osch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal su ch 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 subject to change without notice. not intended for publication. 12. document history and modification rev. no chapter description of m odification/changes date 0.1 document creation 2012 - 0 7 - 30 0.2 page 1: technical reference code corrected 2012 - 11 - 06 9.1 table 53 : pin description , corresponding sensor of csb changed from acc to mag+acc, ps from mag to mag+acc (both pins are shared by accelerometer and magnetometer) 1.3 table 57 : 1300t e x changed by 1300t 10.1 figure 41 : contains position and dimensions of pin1 marking 10.5 device marking updated 10.8.1 tape and reel specification added 1.2 table 2 : dt s and ot s updated 1.3 table 3 : b rg,z updated 8.2 table 52 : i2c timings updated 8 table 48 updated 0.3 10 number of pins corrected 2012 - 12 - 06 6.2 figure 18 : chip id update 0.4 final status 201 3 - 02 - 05 bosch sensortec gmbh gerhard - kindler - strasse 8 72770 reutlingen / germany contact@bosch - sensortec.com www.bosch - sensortec.com modifications reserved | printed in germany specifications subject to change without notice docu ment number: bst - BMC150 - ds00 0 - 0 3 version_ 0. 4 _ 0 2 201 3

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