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d ata sheet BMI055 small, versatile 6dof sensor module bm i055 : d ata shee t document revision 1 . 0 document release date may 2 9 t h , 201 3 document number bst - BMI055 - ds00 0 - 0 6 technical reference code(s) 0 273 141 1 34 notes data and descriptions within this document are subject to change without notice. product photos and pictures are for illustration purposes only and may differ from the real products appearance. not intended for publishing bosch sensortec
BMI055 d ata sheet page 2 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. BMI055 basic description key features ? 2 inertial sensors in one device an advanced triaxial 16bit gyroscope and a versatile, leading edge triaxial 12bit accelerometer for r educed pcb space and simplified signal routing ? small package lga package 16 pins footprint 3.0 x 4.5 mm2, height 0.95mm ? common voltage supplies v dd voltage range: 2.4 v to 3.6v ? digital interface spi (4 - w ire, 3 - wire), i2c, 4 interrupt pins v ddio voltage range: 1.2v to 3.6v ? smart operation and integration gyro scope and accelerometer can be operated individually ? consumer electronics suite msl 1 , rohs compliant, halogen - free operati ng temperature: - 40c ... +85c 9dof software compatible accelerometer features ? programmable functionality acceleration ranges 2g/4g/8g/16g low - pass filter bandwidths 1khz - <8hz ? on - chip fifo integrated fifo with a depth of 32 frames ? on - chip interrupt controller motion - triggered interrupt - signal generation for - new data - any - motion (slope) detection - tap sensing (single tap / double tap) - orientation - & motion inactivity recognition - flat / low - g/high - g detection ? on - chip temperature sensor f actory trimmed, 8 - bit, typical slope 0.5k/lsb. ? ultra - low power ic 130a current consumption, 1.3ms wake - up time, a dvanced features for system power management gyroscope features ? programmable functionality r anges s witchable from 125/s to 2000/s low - pass filter bandwidths 23 0 hz - 12 hz fast and slow offset controller (foc and soc) ? on - chip fifo integrated fifo with a depth of 100 frames ? on - chip interrupt controller motion - triggered interrupt - signal generation for - new data - any - motion (slope) detection - high rate ? l ow power ic < 5ma current consumption, 30ms start - up time w ake - up time in fast power - up mode only 10ms
BMI055 d ata sheet page 3 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. typical applications ? advanced g aming & hmi ? advanced g esture recognition ? indoor navigation ? image stabilization ? display profile switching ? advanced system power management for mobile applications ? menu scrolling, tap / double tap sensing ? pedometer / step counting ? free - fall detection ? e - compass tilt compensation ? drop detection for warranty logging general d escription the bm i055 is a n inertial measurement unit (imu) for the detection of movements and rotations in 6 degrees of freedom (6dof). it reflects the full functionality of a tria xial, low - g acceleration sensor and at the same time it is c apable to measure angular rates. both C acceleration and angular rate C in three perpendicular room dimensions, the x - , y - and z - axis . the BMI055 is designed to meet all requirements for consumer applications such as gaming and pointing devices, hmi and image stabili z ation (dsc and camera - phone). it also senses tilt, motion , inactivity and shock vibration in cell phones, handhelds, computer peripherals, man - machine interfaces, virtual reality features and game controllers. an evaluation circuitry (asic) converts the output of the micro - electro mechanical sensing structure s (mems) , developed, produced and tested in bosch facilities . the corresponding chip - sets are packed into one single lga 3.0mm x 4.5mm x 0.95 mm housing. for optimum system integration t he BMI055 is fitted with d igital bi - directional spi and i 2 c interfaces. to provide maximum performance and reliability each device is tested and ready - to - use calibrated. package and interfaces of the BMI055 have been defined to match a multitude of hardware requirements. sin ce the sensor features a small footprint, a flat package and very l ow power consumption it is ingeniously suited for mobile - phone and tablet pc applications. the BMI055 offers a variable v ddio voltage range from 1.2v to 3.6v and can be programmed to optimize functionality, performance and power consumption in customer specific applicati ons. in addition it features on - chip interrupt controller s enabling motion - based applications without use of a microcontroller.
BMI055 d ata sheet page 4 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. index of contents basic description ................................ ................................ ................................ ................... 2 1. specification ................................ ................................ ................................ ...................... 11 1.1 e lectrical specificat ion ................................ ................................ ............................... 11 1.2 e lectrical and physic al characteristics , measurement performa nce .................... 12 2. absolute maximum ratings ................................ ................................ .......................... 17 3. block diagram ................................ ................................ ................................ ................... 18 4. basic power manag ement ................................ ................................ ............................. 19 5. fun ctional description accelerometer ................................ .............................. 20 5.1 p ower modes accelerom eter ................................ ................................ ...................... 20 5.2 imu data accelerometer ................................ ................................ .............................. 24 5.2.1 a cceleration data ................................ ................................ ................................ .................... 24 5.2.2 t e mperature s ensor ................................ ................................ ................................ ................ 25 5.3 s elf - test accelerometer ................................ ................................ ............................. 25 5.4 o ffset compensation a ccelerometer ................................ ................................ ......... 26 5.4.1 s low compensation ................................ ................................ ................................ .................. 28 5.4.2 f ast compensation ................................ ................................ ................................ .................... 28 5.4.3 m anual compensation ................................ ................................ ................................ .............. 29 5.4.4 i nline calibration ................................ ................................ ................................ ..................... 29 5.5 n on - volatile memory acce lerometer ................................ ................................ ......... 30 5.6 i nterrupt controller accelerometer ................................ ................................ ....... 30 5.6.1 g eneral features ................................ ................................ ................................ ..................... 31 5.6.2 m app ing to physical inte rrupt pins ( inttype to int p in #) ................................ ..................... 32 5.6.3 e lectrical behaviour (int pin # to open - drive or push - pull ) ................................ ................ 32 5.6.4 n ew data interrupt ................................ ................................ ................................ ................... 33 5.6.5 s lope / any - motion detection ................................ ................................ ................................ .. 33 5.6.6 o rientation recogniti on ................................ ................................ ................................ .......... 37 5.6.7 f lat detection ................................ ................................ ................................ ........................... 41 5.6.8 l ow - g interrupt ................................ ................................ ................................ ........................ 42 5.6.9 h igh - g interrupt ................................ ................................ ................................ ....................... 42 5.6.10 n o - motion / slow motion detectio n ................................ ................................ ....................... 43 5.7 s oftreset acceleromet er ................................ ................................ ........................... 44 6. register descript ion accelerometer ................................ ................................ ... 45 6.1 g eneral remarks accel erometer ................................ ................................ ............... 45 6.2 r egister map accelero meter ................................ ................................ ...................... 46 acc r egister 0 x 00 (bgw_chipid) ................................ ................................ ................... 47
BMI055 d ata sheet page 5 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc r egister 0 x 01 is reserved ................................ ................................ ......................... 47 ac c r egister 0 x 02 (accd_x_lsb) ................................ ................................ ................... 47 acc r egister 0 x 03 (accd_x_msb) ................................ ................................ .................. 48 acc r egister 0 x 04 (accd_y_lsb) ................................ ................................ ................... 48 acc r egister 0 x 05 (accd_y_msb) ................................ ................................ .................. 49 ac c r egister 0 x 06 (accd_z_lsb) ................................ ................................ ................... 49 acc r egister 0 x 07 (accd_z_msb) ................................ ................................ .................. 50 acc r egister 0 x 08 (accd_temp) ................................ ................................ .................... 50 acc r egister 0 x 09 (int_status_0) ................................ ................................ ................ 51 acc r egister 0 x 0a (int_status_1) ................................ ................................ ................ 52 acc r egister 0 x 0b (int_status_2) ................................ ................................ ................ 52 acc r egister 0 x 0c (int_status_3) ................................ ................................ ................ 53 acc r egister 0 x 0d is reserved ................................ ................................ ........................ 54 acc r egister 0 x 0e (fifo_status) ................................ ................................ .................. 54 acc r egister 0 x 0f (pmu_range) ................................ ................................ ................... 54 acc r egister 0 x 10 (pmu_bw) ................................ ................................ .......................... 55 acc r e gister 0 x 11 (pmu_lpw) ................................ ................................ ........................ 55 acc r egister 0 x 12 (pmu_low_power) ................................ ................................ ......... 56 acc r egister 0 x 13 (accd_hbw) ................................ ................................ ...................... 57 acc r egister 0 x 14 (bgw_softreset) ................................ ................................ .......... 57 acc r egister 0 x 15 is reserved ................................ ................................ ......................... 58 acc r egister 0 x 16 (int_en_0) ................................ ................................ ......................... 58 acc r egister 0 x 17 (int_en_1) ................................ ................................ ......................... 58 acc r egister 0 x 18 (int_en_2) ................................ ................................ ......................... 59 acc r egister 0 x 19 (int_map_0) ................................ ................................ ....................... 59 acc r egister 0 x 1a (int_map_1) ................................ ................................ ...................... 60 acc r egister 0 x 1b (int_map_2) ................................ ................................ ...................... 61 ac c r egister 0 x 1c is reserved ................................ ................................ ........................ 61 acc r egister 0 x 1d is reserved ................................ ................................ ........................ 61 acc r egister 0 x 1e (int_src) ................................ ................................ .......................... 61 acc r egister 0 x 1f is reserved ................................ ................................ ......................... 62 ac c r egister 0 x 20 (int_out_ctrl) ................................ ................................ ................ 62 acc r egister 0 x 21 (int_rst_latch) ................................ ................................ .............. 62 acc r egister 0 x 22 (int_0) ................................ ................................ ................................ 63 acc r egister 0 x 23 (int_1) ................................ ................................ ................................ 63
BMI055 d ata sheet page 6 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc r e gister 0 x 24 (int_2) ................................ ................................ ................................ 64 acc r egister 0 x 25 (int_3) ................................ ................................ ................................ 64 acc r egister 0 x 26 (int_4) ................................ ................................ ................................ 65 acc r egister 0 x 27 (int_5) ................................ ................................ ................................ 65 acc r e gister 0 x 28 (int_6) ................................ ................................ ................................ 66 acc r egister 0 x 29 (int_7) ................................ ................................ ................................ 67 acc r egister 0 x 2a (int_8) ................................ ................................ ................................ 67 acc r e gister 0 x 2b (int_9) ................................ ................................ ................................ 68 acc r egister 0 x 2c (int_a) ................................ ................................ ............................... 68 acc r egister 0 x 2d (int_b) ................................ ................................ ............................... 69 acc r egister 0 x 2e (int_c) ................................ ................................ ............................... 69 acc r e gister 0 x 2f (int_d) ................................ ................................ ............................... 70 acc r egister 0 x 30 (fifo_config_0) ................................ ................................ .............. 70 acc r egister 0 x 31 is reserved ................................ ................................ ......................... 71 ac c r egister 0 x 32 (pmu_self_test) ................................ ................................ ............ 71 acc r egister 0 x 33 (trim_nvm_ctrl) ................................ ................................ ............ 72 acc r egister 0 x 34 (bgw_spi3_wdt) ................................ ................................ .............. 72 acc r egister 0 x 35 is reserved ................................ ................................ ......................... 73 acc r egister 0 x 36 (ofc_ctrl) ................................ ................................ ....................... 73 acc r egister 0 x 37 (ofc_setting) ................................ ................................ ................. 74 acc r egister 0 x 38 (ofc_offset_x) ................................ ................................ .............. 74 acc r egister 0 x 39 (ofc_offset_y) ................................ ................................ .............. 75 acc r egister 0 x 3a (ofc_offset_z) ................................ ................................ .............. 76 acc r egister 0 x 3b (trim_gp0) ................................ ................................ ........................ 76 acc r egister 0 x 3c (trim_gp1) ................................ ................................ ........................ 77 acc r egister 0 x 3d is reserved ................................ ................................ ........................ 77 acc r egister 0 x 3e (fifo_config_1) ................................ ................................ .............. 77 acc r egister 0 x 3f (fifo_data) ................................ ................................ ...................... 78 7. functional descri ption gyro ................................ ................................ ..................... 79 7. 1 p ower modes gyroscope ................................ ................................ ............................. 79 7.1.1 a dvanced power - saving modes ................................ ................................ ............................... 80 7.2 imu d ata g yro ................................ ................................ ................................ .............. 82 7.2.1 r ate dat a ................................ ................................ ................................ ................................ ... 82 7.3 a ngular rate r ead - o ut ................................ ................................ ............................... 83
BMI055 d ata sheet page 7 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 7.4 s elf - test g yro ................................ ................................ ................................ .............. 83 7.5 o ffset com pensation gyroscope ................................ ................................ ................ 84 7.5.1 s low compensation ................................ ................................ ................................ .................. 84 7.5.2 f ast compensation ................................ ................................ ................................ .................... 84 7.5.3 m a nual compensation ................................ ................................ ................................ ............... 85 7.5.4 i nline calibration ................................ ................................ ................................ ...................... 85 7.6 n on - volatile memory gyro scope ................................ ................................ ................. 85 7.7 i nterrupt controller g yro ................................ ................................ ........................ 86 7. 7.1 g eneral features ................................ ................................ ................................ .................... 86 7.7.2 m apping to physical i nterrupt pins ( inttype to int p in #) ................................ ...................... 88 7.7.3 e lectrical behaviour (int pin # to open - drive or push - pull ) ................................ ................ 88 7.7.4 n ew data interrupt ................................ ................................ ................................ ................... 88 7.7.5 a n y - motion detection / i nterrupt ................................ ................................ ........................... 88 7.7.6 h igh - r ate interrupt ................................ ................................ ................................ ................ 90 8. register descript ion gyroscope ................................ ................................ ............. 92 8.1 g eneral remarks ................................ ................................ ................................ .......... 92 8.2 r egister map gyroscope ................................ ................................ .............................. 93 gyr r egister 0 x 00 (chip_id) ................................ ................................ ............................ 94 gyr r egister 0 x 01 is reserved ................................ ................................ ......................... 94 gy r r egister 0 x 02 (rate_x_lsb) ................................ ................................ ................... 94 gyr r egister 0 x 03 (rate_x_msb) ................................ ................................ .................. 95 gyr r egister 0 x 04 (rate_y_lsb) ................................ ................................ ................... 95 gyr r egister 0 x 05 (rate_y_msb) ................................ ................................ .................. 96 gy r r egister 0 x 06 (rate_z_lsb) ................................ ................................ .................... 96 gyr r egister 0 x 07 (rate_z_msb) ................................ ................................ ................... 97 gyr r egister 0 x 08 reserved ................................ ................................ ............................ 97 gyr r egister 0 x 09 (int_status_0) ................................ ................................ ................ 97 gyr r egister 0 x 0a (int_status_1) ................................ ................................ ................ 98 gyr r egister 0 x 0b (int_status_2) ................................ ................................ ................ 98 gyr r egister 0 x 0c (int_status_3) ................................ ................................ ................ 99 gyr r egister 0 x 0d is reserved ................................ ................................ ........................ 99 gyr r egister 0 x 0e (fifo_status) ................................ ................................ .................. 99 gyr r egister 0 x 0f (range) ................................ ................................ ........................... 100 gyr r e gister 0 x 10 (bw) ................................ ................................ ................................ .. 100 gyr r egister 0 x 11 (lpm1) ................................ ................................ ............................... 101 gyr r egister 0 x 12 (lpm2) ................................ ................................ ............................... 102 gyr r egister 0 x 13 (rate_hbw) ................................ ................................ .................... 103 gy r r egister 0 x 14 (bgw_softreset) ................................ ................................ ........ 104
BMI055 d ata sheet page 8 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr r egister 0 x 15 (int_en_0) ................................ ................................ ....................... 104 gyr r egister 0 x 16 (int_en_1) ................................ ................................ ....................... 105 gy r r egister 0 x 17 (int_ map _0) ................................ ................................ ..................... 105 gyr r egister 0 x 18 (int_ map _1) ................................ ................................ ..................... 106 gyr r egister 0 x 19 (int_map_2) ................................ ................................ ..................... 106 gy r r egister 0 x 1a ................................ ................................ ................................ ........... 107 gyr r egister 0 x 1b ................................ ................................ ................................ ........... 107 gyr r egister 0 x 1c ................................ ................................ ................................ .......... 108 gyr r egister 0 x 1d is reserved . ................................ ................................ ..................... 108 gyr r egister 0 x 1e ................................ ................................ ................................ ........... 108 gyr r egister 0 x 1f and 0 x 20 are reserved ................................ ................................ .... 109 gyr r egister 0 x 21 (int_rst_latch) ................................ ................................ ............ 109 gyr r egister 0 x 22 (h igh _t h _ x ) ................................ ................................ ...................... 109 gyr r egister 0 x 23 (h igh _d ur _ x ) ................................ ................................ ................... 110 gyr r egister 0 x 24 (h igh _t h _ y ) ................................ ................................ ..................... 110 gyr r egister 0 x 25 (h igh _d ur _ y ) ................................ ................................ ................... 111 gyr r egister 0 x 26 (h igh _t h _ z ) ................................ ................................ ..................... 111 gyr r egister 0 x 27 (h igh _d ur _ z ) ................................ ................................ ................... 112 gyr r egister 0 x 28 to 0 x 30 are reserved ................................ ................................ ...... 112 gyr r egister 0 x 31 (soc) ................................ ................................ ................................ 112 gyr r egister 0 x 32 (a_foc) ................................ ................................ ............................ 113 gyr r egister 0 x 33 (trim_nvm_ctrl) ................................ ................................ .......... 114 gyr r egister 0 x 34 (bgw_spi3_wdt) ................................ ................................ ............ 114 gyr r egister 0 x 35 is reserved ................................ ................................ ....................... 115 gyr r egister 0 x 36 (ofc1) ................................ ................................ .............................. 115 gyr r egister 0 x 37 (ofc2) ................................ ................................ .............................. 115 gyr r e gister 0 x 38 (ofc3) ................................ ................................ .............................. 116 gyr r egister 0 x 39 (ofc4) ................................ ................................ .............................. 117 gyr r egister 0 x 3a (trim_gp0) ................................ ................................ ...................... 117 gy r r egister 0 x 3b (trim_gp1) ................................ ................................ ...................... 118 gyr r egister 0 x 3c (bist) ................................ ................................ ............................... 118 gyr r egister 0 x 3d (fifo_config_0) ................................ ................................ ............ 119 gyr r egister 0 x 3e (fifo_config_1) ................................ ................................ ............ 119
BMI055 d ata sheet page 9 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 9. digital interface of the device ................................ ................................ ............... 121 9.1 s erial peripheral int erface (spi) ................................ ................................ .............. 122 9.2 i nter - i ntegrated c ircuit (i2c) ................................ ................................ .................... 126 9.2.1 spi and i2c a ccess r estrictions ................................ ................................ .......................... 129 10. fifo operation ................................ ................................ ................................ ............... 130 10.1 fifo o perating m odes ................................ ................................ ............................. 130 10.2 fifo d ata r eadout ................................ ................................ ................................ ... 131 10.2.1 d ata readout a ccelerometer ................................ ................................ ............................. 131 10.2.2 d ata readout g yroscope ................................ ................................ ................................ .... 132 10.2.3 e xternal fifo synchronization (efs) for the gyroscope ................................ .............. 132 10.2.4 i nterface speed requi rements for g yroscope fifo use ................................ ................. 133 10.3 fifo f rame c ounter and o verrun f lag ................................ ................................ . 133 10.4 fifo i nterrupts ................................ ................................ ................................ ........ 134 11. pin - out and connection d iagram ................................ ................................ .......... 135 11.1 p in - out ................................ ................................ ................................ ....................... 135 11.2 c onnection diagram 4 wire spi ................................ ................................ ................ 136 11.3 c onnection diagram 3 - wire spi ................................ ................................ ............... 137 11.4 c onnection diagram i 2 c ................................ ................................ ............................ 138 12. package ................................ ................................ ................................ ............................ 139 12.1 o utline dimensions ................................ ................................ ................................ ... 139 12.2 s en sing axes orientatio n ................................ ................................ ......................... 140 12.3 l anding pattern recom mendation ................................ ................................ ........... 142 12.4 m arking ................................ ................................ ................................ ..................... 143 12.4.1 m ass production sampl es ................................ ................................ ................................ .... 143 12.4.2 e ngineering samples ................................ ................................ ................................ ............ 143 12.5 s oldering guidelines ................................ ................................ ................................ 144 12.6 h andling instructions ................................ ................................ .............................. 145 12.7 t ape and reel specifi cation ................................ ................................ ...................... 145 12.7.1 o rientation within th e reel ................................ ................................ ................................ 146 12.8 e nvironmental safety ................................ ................................ .............................. 146 12.8.1 h alogen content ................................ ................................ ................................ ................. 146 12.8.2 i nternal package stru cture ................................ ................................ ............................... 146
BMI055 d ata sheet page 10 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 13. legal disclaimer ................................ ................................ ................................ .......... 147 13.1 e ngineering samples ................................ ................................ ................................ . 147 13.2 p roduct use ................................ ................................ ................................ .............. 147 13.3 a pplication examples and hint s ................................ ................................ ............... 147 14. document history and modification ................................ ................................ ... 148
BMI055 d ata sheet page 11 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 1. specification if not stated otherwise, the given values are over lifetime and full performance temperature and voltage ranges , minimum/ maximum values are 3 ? . 1.1 electrical specification table 1 : electrical parameter specification o perating c onditions parameter symbol condition min typ max unit supply voltage internal domains v dd 2.4 3.0 3.6 v supply voltage i/o domain v ddio 1.2 2.4 3.6 v voltage input low level v il,a spi & i2c 0.3 v ddio - voltage input high level v ih,a spi & i2c 0.7v ddio - voltage output low level v ol,a i ol = 3ma, spi & i2c 0.23 v ddio - voltage output high level v oh i oh = 3 ma , spi 0.8v ddio - operating temperature t a - 40 +85 c
BMI055 d ata sheet page 12 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 1.2 electrical and physical characteristics, measurement performance table 2 : electrical characteristics accelerometer o perating c onditions a ccelerometer parameter symbol condition min typ max units 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 see 1 130 a total supply current in suspend mode i ddsum see 1 2.1 a total supply current in deep suspend mode i dddsum see 1 1.0 a total supply current in low - power mode 1 i ddlp1 see 1 sleep duration 25ms 6 .5 a total supply current in low - power mode 2 i ddlp2 see 1 sleep duration 25ms 6 6 a total supply current in standby mode i ddsbm see 1 6 2 a wake - up time 1 t w, up 1 from low - power mode 1 or suspend mode or deep suspend mode bw = 1khz 1.3 m s wake - up time 2 t w, up2 from low - power mode 2 or stand - by mode bw = 1khz 1 m s start - up time t s, up por, bw = 1khz 3 m s non - volatile memory (nvm) write - cycles n nvm 15 c ycles 1 conditions of c urrent consumption if not specified otherwise: t a =25c , bw_accel=1khz, v dd = v dd io = 2.4v, digital protocol on, no streaming data
BMI055 d ata sheet page 13 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. o utput s igna l a ccelerometer parameter symbol condition min typ max units 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 g fs2g , nominal v dd supplies 0.02 %/k sensitivity supply volt. drift s vdd g fs2g , t a =25c, v dd_min v dd v dd_max 0. 05 %/v zero - g offset (x,z) off x,z g fs2g , t a =25c, n ominal v dd supplies, over life - time 70 mg zero - g offset (y) off y g fs2g , t a =25c, n ominal v dd supplies, over life - time 70 mg zero - g offset temperature drift tco g fs2g , nominal v dd supplies 1 mg/k zero - g offset supply volt. drift off vdd g fs2g , t a =25c, v dd_min v dd v 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 1,000 hz nonlinearity nl best fit straight line, g fs2g - 1 0.5 %fs output noise density n rms g fs2g , t a =25c nominal v dd supplies normal mode 150 g/ ? hz temperature sensor measurement range t s - 40 85 c temperature sensor slope dt s 0.5 k/lsb temperature sensor offset ot s 2 k
BMI055 d ata sheet page 14 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. m echanical c haracteristics a ccelerometer parameter symbol condition min typ max units cross axis sensitivity s relative contribution between any two of the three axes 1 % alignment error e a relative to package outline 0.5 table 3 : electrical characteristics gyroscope o perating c onditions g yroscope parameter symbol condition min typ max unit range r fs125 selectable via serial digital interface 125 /s r fs250 250 /s r fs500 500 /s r fs1000 1,000 /s r fs2000 2,000 /s supply current in normal mode i dd see 2 5 ma supply current in fast power - up mode i ddfpm see 2 2.5 ma supply current in suspend mode i ddsum see 2 , digital and analog (only if active) 25 a supply current in deep suspend mode i dddsum see 2 < 5 a start - up time t su to 1o/s of final value;from power - off 30 ms wake - up time t wusm from suspend - and deep suspend - modes 30 ms wake - up time t wufpm from fast power - up mode 10 ms non - volatile memory (nvm) write - cycles n nvm 15 cycles 2 conditions of c urrent consumption if not specified otherwise: t a =25c , bw_gyro=1khz, v dd =2.4v, v dd io =1.8v, digital protocol on, no streaming data
BMI055 d ata sheet page 15 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. o utput s ignal g yroscope parameter symbol condition min typ max unit sensitivity ta=25c, r fs2000 16.4 lsb//s ta=25c, r fs1000 32.8 lsb//s ta=25c, r fs500 65.6 lsb//s ta=25c, r fs250 131.2 lsb//s ta=25c, r fs125 262.4 lsb//s sensitivity tolerance ta=25c, r fs2000 1 % sensitivity change over temperature tcs nominal v dd supplies - 40c t a +85c r fs2000 0. 03 % /k sensitivity supply volt. drift s vdd t a =25c, v dd_min v dd v dd_max <0.4 %/v nonlinearity nl best fit straight line r fs1000, r fs2000 0. 05 %fs g - sensitivity sensitivity to acceleration stimuli in all three axis (frequency <20khz) 0.1 /s/g zero - rate offset off ? x ? y and ? z nominal v dd supplies t a =25c, s low and fast offset cancellation off 1 /s zero - ? offset change over temperature tco nominal v dd supplies - 40c t a +85c r fs2000 0.015 /s per k zero - ? offset supply volt. drift off ? vdd t a =25c, v dd_min v dd v dd_max <0.1 /s /v output noise n rms rms, bw=47hz (@ 0.014/s/ hz) 0.1 /s
BMI055 d ata sheet page 16 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bandwidth bw f - 3db unfiltered 230 116 64 47 32 23 12 hz data rate (set of x,y,z rate) 2000 1000 400 200 100 hz data rate tolerance (set of x,y,z rate) 0.3 % cross axis sensitivity sensitivity to stimuli in non - sense - direction 1 %
BMI055 d ata sheet page 17 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 2. absolute maximum ratings table 4 : absolute maximum ratings parameter condition min max units voltage at supply pin v dd pin - 0.3 4.25 v v ddio pin - 0.3 4.25 v voltage at any logic p in non - supply pin - 0.3 v ddio +0.3 v passive storage temp. range 65% rel. h. duration 200s 1.0ms note: stress above these limits may cause damage to the device. exceeding the specified electrical limits may affect the device reliability or cause malfunction.
BMI055 d ata sheet page 18 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 3. block diagram figure 1 shows the basic building blocks of the BMI055 : figure 1 : block diagram of the BMI055
BMI055 d ata sheet page 19 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 4. basic p ower management the bm i055 has two distinct power supply pins: ? v dd is the main power supply for the internal blocks ? v ddio is a separate power supply pin mainly used for the supply of the interface for the switching sequence of power supply v dd and v ddio it is recommended that v dd is powered on and driven to the specified level before v ddio is powered on. otherwise there are no limitations on the voltage levels of both pins relative to ea ch 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 on ( v ddio > 0v) or vice versa. when the v ddio supply is switched off, all interface pins (csb, sdi, sck, ps) must be kept close to gnd io potential. the device contains a power - on reset (por) generator. it resets the logic part and the register values after powering - on v dd and v ddio . please note, tha t all application specific settings which are not equal to the default settings ( refer to 6.2 register map accelerometer and to 8.2 register map gyroscope ), must be re - set to its designated values after por. in case the i2c interface shall be 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 io .
BMI055 d ata sheet page 20 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5. functional description a ccelerometer note: default values for registers can be found in chapter 6 . 5.1 power modes accelerometer the accelerometer has six different power modes. 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 accelerometer is i n normal mode so that all parts of the device are 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 (acc 0x11) deep_suspend bit while (acc 0x11) suspend bit is set to 0. the i 2 c watchdog timer remains fu nctional. the ( acc 0x11) deep_ suspend bit, the ( acc 0x34) spi3 bit, (acc 0x34) i2c_wdt_en bit and the ( acc 0x34) i2c_wdt_sel bit are functional in deep - suspend mode. equally the interrupt level and driver configuration registers (acc 0x20) int1_lvl , (acc 0x20) 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
BMI055 d ata sheet page 21 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. int1_od , (acc 0x20) int2_lvl , and (acc 0x20) int2_od are accessible. still it is possible to enter normal mode by performing a softreset as described in chapter 5 . 7 . please note, that all application specific settings which are not equal to the default settings (refer to 6.2 register map accelerometer ), must be re - set to its designated values after leaving deep - suspend mode. i n 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. writing to and reading from registers is supported except from the (0x3e) fifo_config_1, (0x30) fifo_config_0 and (0x3f) fifo_data register. it is possible to enter normal mode by performing a softreset as described in chapter 5 . 7 . suspend mode is entered (left) by writing 1 (0) to the (acc 0x11) suspend bit after bit (acc 0x12) lowpower_mode ha s 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 inserted between two consecutive write cycles (please refer also to section 9 .2.1) . in standby mode the analog part is powered down, while the digital part remains largely operational. n o data acquisition is performed. r eading and writing registers is supported without any restrictions. the latest acceleration data and the content of all configuration r egisters are kept . standby mode is entered (left) by writing 1 (0) to the (acc 0x11) suspend bit after bit (acc 0x12) lowpower_mode has been set to 1. i t is also possible to enter normal mode by performing a softreset as described in chapter 5 . 7 . 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 power - up of the circuitry. the sleep phase essentially corresponds to ope ration in suspend mode . low - power mode is entered (left) by writing 1 (0) to the (acc 0x11) lowpower_en bit with bit (acc 0x12) lowpower_mode set to 0 . read access to registers is possible except from the (0x3f) fifo_data register . 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 without 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 of the circuitry. the sleep phase essen tially corresponds to operation in standby mode . low - power mode is entered (left) by writing 1 (0) to the (acc 0x11) lowpower_en bit with bit (acc 0x12) lowpower_mode set to 1 . the timing behaviour of the low - power modes 1 and 2 depends on the setting of the (acc 0x12 ) sleeptimer _en bit. when (acc 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 sa mples 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 until the inte rrupt 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 recommended for power - critical applications which do not use the fifo. also, edt mode is compatible with legacy bst sensors. figure 3 shows the timing diagram for low - power modes 1 and 2 when edt is selected.
BMI055 d ata sheet page 22 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. figure 3 : timing diagram for low - power mode 1/2, edt when (acc 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 interrupt engines or interface activity. in est mode the sleep time t sleep is defined as shown in f igure 4 . the fifo sampling time t s ample is the sum of the sleep time t sleep and the sensor data sampling time t s smp . since interr upt engines can extend the active phase to exceed the sleep time t sleep , equidistant sampling is only guaranteed if the bandwidth has been chosen such that 1 / (2 * bw) = n * t sleep 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 1/2, est the sleep time for lower - power mode 1 and 2 is set by the (acc 0x11) sleep_dur bits as shown 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
BMI055 d ata sheet page 23 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. in the following table: table 5 : sleep phase duration settings (acc 0x11) sleep_dur sleep phase duration t sleep 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 c urrent consumption of the accelerometer in low - power mode 1 ( i ddlp1 ) and low - power mode 2 ( i ddlp2 ) can be estimated 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 6 ) have to be considered: if bandwidth is >=31.25 hz: t active = t ut + t w,up1 - 0. 9 ms (or t active = t ut + t w,up2 - 0. 9 ms) else: t active = 4 t ut + t w,up1 - 0. 9 ms (or t active = 4 t ut + t w,up2 - 0. 9 ms) during the wake - up phase all analog modules are held powered - up, while d uring the sleep phase most analog modules are powered down. consequently, a wake - up time of more than t w,up1 ( t w,up2 ) ms is needed to settle the analog modules so that reliable acceleration data are generated . active sleep dd active ddsum sleep ddlp t t i t i t i ? ? ? ? ? 1 active sleep dd active ddsbm sleep ddlp t t i t i t i ? ? ? ? ? 2
BMI055 d ata sheet page 24 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.2 imu data accelerometer 5.2.1 acceleration data the width of acceleration data is 1 2 bits given in twos complement representation. the 1 2 bits for each axis are split into an msb upper part (one byte containing bits 11 to 4 ) and an lsb lower part (one byte containing bits 3 to 0 of acceleration and a ( acc 0x02, 0x04, 0x06) new_data flag). reading the acceleration data registers shall always start with the lsb part. in order to ensure the integrity of the acceleration data, t he content of an msb register is locked by reading the corresponding lsb register (shadowing procedure). when shadowing is enabled, the msb must always be read in order to remove the data lock. the shadowing procedure can be disabled (enabled) by writing 1 (0) to the bit shadow_dis . with shadowing disabled, the content of both msb and lsb registers is updated by a new value immediately. unused bits of the lsb registers may have any value and should be ignored . the (acc 0x02, 0x04, 0x06) new_data flag of each lsb register is set if the data registers have been updated . the flag is reset if either the corresponding msb or lsb part is read. two different streams of acceleration data are available, unfiltered and filtered. the unfiltered data is sampled wit h 2khz. the sampling rate of the filtered data depends on the selected filter bandwidth and is always twice the selected bandwidth (bw = odr/2) . which kind of data is stored in the acceleration data registers depends on bit (acc 0x13) data_high_bw . if (acc 0x13) data_high_bw is 0 (1), then filtered (unfiltered) data is stored in the registers. both data streams are offset - compensated. the bandwidth of filtered acceleration data is determined by setting the (acc 0x10) bw bit as followed: table 6 : 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 set an application specific and an appropriate bandwidth and to use the range from 01000b to 01111b only in order t o be compatible with future products.
BMI055 d ata sheet page 25 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the accelerometer supports four different acceleration measurement ranges. a measurement range is selected by setting the (acc 0x0f) range bits as follows: table 7 : range selection range acceleration measurement range resolution 0011 2g 0 .9 8 mg/lsb 0101 4g 1 . 95 mg/lsb 1000 8g 3.91 mg/lsb 1100 16g 7.81 mg/lsb others reserved - 5.2.2 temperature sensor the width of temperature data is 8 bits given in twos complement representation. temperature values are available in the ( acc 0x08) temp register. the slope of the temperature sensor is 0.5k/l sb, its center temperature is 23 c [ ( acc 0x08) temp = 0x00]. 5.3 self - test accelerometer this feature permits to check the sensor functionality by applying electrostatic forces to the sensor core instead of external accelerations. by actually deflecting the seismic mass, the entire signal path of the sensor can be tested. activating the self - test results in a static offset of the acceleration data; any external acceleration or gravitational force applied to the sensor during active self - test will be observed in the output as a superposition of both acceleration and self - test signal. before the self - test is enabled the g - range should be set to 8 g. the self - test is activated individually for each axis by writing the proper value to the (acc 0x32) self_test_axis bits (01b for x - axis, 10b for y - axis, 11b for z - axis, 00b to deactivate self - test). it is possible to control the direction of the deflection through bit (acc 0x32) self_test_sign . the excitation occurs in nega tive ( posi tive) direction if (acc 0x3 2) self_test_sign = 0b (1b). the amplitude of the deflection has to be set high by writing (acc 0x32) self_test_amp = 1b . after the self - test is enabled, the user should wait 50ms before interpreting the acceleration data. in order to ensure a proper interpretation of the self - test signal it is recommended to perform the self - test for both (positive and negative) directions and then to calculate the difference of the result ing acceleration values. table 8 shows the minimum differences for each axis. the actually measured signal differences can be significantly larger.
BMI055 d ata sheet page 26 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. table 8 : 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, wait for at least 5 0 ms, enable desired interrupts . 5.4 offset compensation accelerometer offsets in measured signals can have several causes but they are always unwanted and disturbing in many cases. therefore, the accelerometer offers an advanced set of four digital offset compensation methods which are closely matched to each other. these are slow, fast, and manual compensation as well as inline calibration. the compensation is performed with filtered data, and is then applied to both, unfiltered and filtered data. if necessary t he 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 compensati on values have a width of 8 bits.
BMI055 d ata sheet page 27 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. an overview of the offset compensation principle is given in figure 5 : figure 5 : principle of offset compensation the public offset compensation registers (acc 0x38) offset_x , (acc 0x39) offset_y , (acc 0x3a) offset_z are image s of the corresponding registers in the nvm . with each image update (see section 5 . 5 non - volatile memory accelerometer for details) the contents of the nvm registers are written to the public registers. t he public register s 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 extend ed to 1 2 bit values for internal computation. in the opposite direction, if an internally computed value changes it i s converted to an 8bit value and stored in the public register. depending on the selected g - range the conversion from 12bit to 8bit values can result in a loss of accuracy of one to several lsb. this is shown in figure 5 . in case an internally computed compensation value is too small or too large to fit into the corresponding register, it is saturated in order to prevent an overflow error. by writing 1 to the (acc 0x36) offset_reset bit, all offset compensation registers are reset to zero. 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
BMI055 d ata sheet page 28 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.4.1 slow compe nsation slow compensation is based on a 1 st order high - pass filter, which continuously drives the average value of the output data stream of each axis to zero. the bandwidth of the high - pass filter is configured with bit (acc 0x37) cut_off according to t able 9 . table 9 : compensation period settings (acc 0x37) cut_off high - pass filter bandwidth 0b 1 1b 10 hz the slow compensation can be enabled (disabled) for each axis independently by setting the bits (acc 0x36) hp_x_en, hp_y_en, hp_z_en to 1 (0), respectively. slow compensation should not be used in combination with low - power mode. in low - power mode the conditions (availability of necessary data) for proper function of slow compensation are not fulfilled. 5.4.2 fast compensation fast compensation is a one - shot process by which the compensation value is set in such a way that when added to the raw acceleration, the resulting acceleration value of each axis approaches the target value. this is best suited for end - of - line trimming with the customers device positioned in a well - defined orientation. for fast compensation the g - range has to be switched to 2g. the algorithm in detail: an average of 16 consecutive acceleration values is computed and the difference between target value and computed value is written to (acc 0x38, 0x39, 0x3a) offset_filt_x/y/z . the public registers (acc 0x38, 0x39, 0x3a) offset_filt_x/y/z are updated with the contents of the internal registers (using saturation if necessary) and can be read by the user. f ast compensation is triggered for each axis individually by setting the (acc 0x36) cal_trigger bits as shown in table 1 0 : table 1 0 : fast compensation axis selection (acc 0x36) cal_trigger selected axis 00b none 01b x 10b y 11b z r egister (acc 0x36) cal_trigger is a write - only register. once triggered, the status of the fast correction process is reflected in the status bit (acc 0x36) cal_rdy . bit (acc 0x36) cal_rdy is 0
BMI055 d ata sheet page 29 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. while the correction is in progress. otherwise it is 1 . bit (acc 0x36) cal_r dy is 0 when (acc 0x36) cal_trigger is not 00. for the fast offset compensation, the compensation target can be chosen by setting the bits (acc 0x37) offset_target_x , (acc 0x37) offset_target_y , and (acc 0x37) offset_target_z according to table 1 1 : table 1 1 : offset target settings (acc 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 mode s . in low - power mode the conditions (availability of necessary data) for proper function of fast compensation are not fulfilled. 5.4.3 manual compensation t he contents of the public compensation registers (acc 0x38, 0x39, 0x3a) offset_filt_x/y/z can be set manually via the digital interface. it is recommended to write into these registers direct ly after a new data interrupt has occurred in order not to disturb running offset computations. writing to the offset compensation registers is not allowed while the fast compensation procedure is running. 5.4.4 inline calibrat ion for certain application s , 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 valu es and then storing these values permanently in the nvm . see section 5 . 5 non - volatile memory accelerometer for details of the storing procedure. each time the device is reset, the compensation values are loaded from the non - volatile memory into the image registers and used for offset compensation . until they are possibly overwritten using one of the other compensation methods.
BMI055 d ata sheet page 30 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.5 non - volatile memory accelerometer the entire memory of the accelerometer consists of three different kinds of registers: hard - wir ed, volatile, and non - volatile. part of it can be both read and written by the user. access to non - volatile memory is only possible through (volatile) image registers. altogether, there are eight registers (octets) with nvm backup which are accessible by the user . the addresses of the image registers range from (acc 0x38 ) to (acc 0x3 c ) . while the addresses up to (acc 0x3 a ) are used for offset compensation (see 5 .4 offset compensation), addresses (acc 0x3 b ) and (acc 0x3 c ) are general purpose registers not l inked to any sensor - specific functionality. the content of the nvm is loaded to the image registers after a reset (either por or softreset) or after a user request which is performed by writing 1 to the write - only bit (acc 0x33) nvm_load . as long as the image update is in progress , bit (acc 0x33) nvm_ rdy is 0 , otherwise it is 1 . the image registers can be read and written like any other register. writing to the nvm is a three - step procedure: 1. write the new contents to the image registers. 2. write 1 to bit (acc 0x33) nvm_prog_mode in order to unlock the nvm . 3. write 1 to bit (acc 0x33) nvm_prog_trig and keep 1 in bit (acc 0x33) nvm_prog_mode in order to trigger the write process. writing to the nvm always renews the entire nvm contents. it is possible to check the write status by reading bit (acc 0x33) nvm_rdy . while (acc 0x33) nvm_rdy = 0, the write process is still in progress ; if (acc 0x33) nvm_rdy = 1, then writing is completed. as long as the write process is ongoing, n o change of power mode and image registers is allowed. also, the nvm write cycle must not be initiated while image registers are updated , in low - power mode, and in suspend mode. please note that the number of permitted nvm write - cycles is limited as speci fied in table 2 . the number of remaining write - cycles can be obtained by reading bits (acc 0x33) nvm_remain . 5.6 interrupt controller accelerometer the accelerometer is equipped with eight programmable interrupt engines. each interrupt can be independently enabled and configured. if the trigger condition of an enabled interrupt is fulfilled, the corresponding status bit is set to 1 and the selected interrupt pin is activated. the accelerometer provides two interrupt pins, int1 and int2; interrupts can be freely mapped to any of these pins. the state of a specific interrupt pin is derived from a logic or combination of all interrupts mapped to it . the interrupt status registers are updated when a new data word is written into the acceleration data registers. if an interrupt is disabled, all active status bits associated with it are immediately reset.
BMI055 d ata sheet page 31 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.6.1 general features an interrupt is cleared depending on the selected interrupt mode, which is common to all interrupts. there are three different interrupt modes: non - latched, latched, and temporary. the mode is selected by the (acc 0x21) latch_int bits according to table 1 2 . table 1 2 : interrupt mode selection (acc 0x21) latch_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, 2 50s 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. in latched mode an asserted interrupt status and the selected pin are cleared by writing 1 to bit (acc 0x21) reset_int . if the activation condition still holds when it is cleared, the interrupt status is asserted again with the next change of the acceleration registers. in the temporary mode an asserted interrupt and selected pin are cleared after a defined period of time . the behaviour of the different interrupt modes is shown graphically in figure 6 . the timings in this mode are subject to the same tolerances as the bandwidths (see table 2 ).
BMI055 d ata sheet page 32 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. figure 6 : interrupt modes several interrupt engi nes can use either unfiltered or filtered acceleration data as their input. for these interrupts, the source can be selected with the bits in register (acc 0x1e) . t hese are (acc 0x1e) int_src_data , (acc 0x1e) int_src_tap , (acc 0x1e) int_src_s lo_no_mot , (ac c 0x1e) int_src_slope , (acc 0x1e) int_src_high , and (acc 0x1e) int_src_low . setting the respective bits to 0 (1) selects filtered (unfiltered) data as input. t he orientation recognition and flat detection interrupt always use filtered input data. it is strongly recommended to set interrupt parameters prior to enabling the interrupt. changing parameters of an already enabled interrupt may cause unwanted interrupt generation and generation of a false interrupt history. a safe way to change parameters of an enabled interrupt is to keep the following sequence: disable the desired interrupt, change parameters, wait for at least 10ms , and then re - enable the desired interrupt. 5.6.2 mapping to physical interrupt pins (inttype to int pin#) r egisters (acc 0x19) to (acc 0x1b) are dedicated to mapping of interrupts to the interrupt pins int1 or int2 . setting (acc 0x19) int1 _inttyp e to 1 (0) maps (unmaps) inttyp e to pin int1 . c orrespondingly setting (acc 0x1b) int2 _inttyp e to 1 (0) maps (unmaps) in ttyp e to pin int2 . note: inttyp e to be replaced with the precise notation, given in the memory map in chapter 6 . example: for flat interrupt (int1_flat): setting (acc 0x19) int1_flat to 1 maps int1_flat to pin int1 . 5.6.3 electrical behaviour (int pin# to open - drive or push - pull) both interrupt pins can be configured to show the desired electrical behaviour. the active level of each interrupt pin is determined by the (acc 0x20) int1_lvl and (acc 0x20) int2_lvl bits. if (acc 0x20) int1_lvl = 1 ( 0) / (acc 0x20) int2_lvl = 1 (0), then pin int1 / pin int2 is active 1 (0). the characteristic of the output driver of the interrupt pins may be configured with bits (acc 0x20) int1_od and (acc 0x20) int2_od . by setting bits (acc 0x20) int1_o d / (acc 0x20) int2_od to 1 , the output driver shows open - drive characteristic , by setting the configuration bits to 0 , the output driver shows push - pull characteristic . when open - drive characteristic is selected in the design, external pull - up or pull - down resistor should be applied 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
BMI055 d ata sheet page 33 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 according the int_lvl configuration. when open - drive characteristic is selected in the design, external pull - up or pull - down resistor should be applied according the int_lvl configuration. 5.6.4 new data interrupt this interrupt serves for synchronous reading of acceleration data. it is generated after storing a new value of z - axis acceleration data in the data register. the interrupt is cleared automatically when the next data acquisition cycle starts. the interrupt status is 0 for at least 50s. the interrupt mode of the new data interrupt is fixed to non - latched. it is enabled (disabled) by writing 1 (0) to bit (acc 0x17) data_en . the interrupt status is stored in bit (acc 0x0a) data_int . due to the settling time of th e filter, the first interrupt after wake - up from suspend or standby mode will take longer than the update time. 5.6.5 slope / a ny - motion detection slope / a ny - motion detection uses the slope between successive acceleration signals to detect changes in motion. an interrupt is generated when the slope (absolute value of acceleration difference) exceeds a preset threshold. it is cleared as soon as the slope falls below the threshold. the principle is made clear in figure 7 . figure 7 : principle of any - motion detection
BMI055 d ata sheet page 34 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the threshold is defined through register (acc 0x28) slope_th . in terms of scaling 1 lsb of (acc 0x28) slope_th corresponds to 3.91 mg in 2g - range (7.81 mg in 4g - range, 15.6 mg in 8g - range and 31.3 mg in 16g - range). therefore the maxi mum 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 suppr ess false triggers , the interrupt is only generated (cleared) if a certain number n of consecutive slope data points is larger (smaller) than the slope threshold given by (acc 0x28) slope_th . this number is set by the (acc 0x27) slope_dur bits. it is n = (acc 0x27) slope_dur + 1 for (acc 0x27). example: (acc 0x27) slope_dur = 00b, , 11b = 1decimal, , 4decimal . 5.6.5.1 enabling (disabling) for each axis any - motion detection can be enabled (disabled) for each axis separately by writing 1 (0) to bits (acc 0x1 6) slope_en_x , (acc 0x16) slope_en_y , (acc 0x16) slope_en_z . the criteria for any - motion detection are fulfilled and the slope interrupt is generated if the slope of any of the enabled axes exceeds the threshold (acc 0x28) slope_th for [ (acc 0x27) slope_du r +1] consecutive times. as soon as the slopes of all enabled axes fall or stay below this threshold for [ (acc 0x27) slope_dur +1] consecutive times the interrupt is cleared unless interrupt signal is latched. 5.6.5.2 axis and sign information of slope / any moti on interrupt the interrupt status is stored in bit (acc 0x09) slope_int . the any - motion interrupt supplies additional information about the detected slope. the axis which triggered the interrupt is given by that one of bits (acc 0x0b) slope_first_x , (acc 0 x0b) slope_first_y , (acc 0x0b) slope_first_z that contains a value of 1. the sign of the triggering slope is held in bit (acc 0x0b) slope_sign until the interrupt is retrigger e d . if (acc 0x0b) slope_sign = 0 (1), the sign is positive (negative). 5.6.5.3 tap sensing tap sensing has a functional similarity with a common laptop touch - pad or clicking keys of a computer mouse. a tap event is detected if a pre - defined slope of the acceleration of at least one axis is exceeded. two different tap events are distingu ished: a single tap is a single event within a certain time, followed by a certain quiet time. a double tap consists of a first such event followed by a second event within a defined time frame. single tap interrupt is enabled (disabled) by writing 1 (0) to bit (acc 0x16) s_tap_en . double tap interrupt is enabled (disabled) by writing 1 (0) to bit (acc 0x16) d_tap_en . the status of the single tap interrupt is stored in bit (acc 0x09) s_tap_int , the status of the double tap interrupt is stored in bit (acc 0x09) d_tap_int . the slope threshold for detecting a tap event is set by bits (acc 0x2b) tap_th . the meaning of (acc 0x2b) tap_th depends on the range setting. 1 lsb of (acc 0x2b) tap_th corresponds to a slope of 62.5mg in 2g - range, 125mg in 4g - range, 250mg in 8g - range, and 500mg in 16g - range.
BMI055 d ata sheet page 35 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. in figure 8 the meaning of the different timing parameters is visualized: figure 8 : timing of tap detection the parameters (acc 0x2a) tap_shock and (acc 0x2a) tap_quiet apply to both single tap and double tap detection, while (acc 0x2a) tap_dur applies to double tap detection only. within the duration of (acc 0x2a) tap_shock any slope exceeding (acc 0x2b) tap_th after the first event is ignored. contrary to this, within the duration of (acc 0x2a) tap_quiet no slope exceeding (acc 0x2b) tap_th must occur, otherwise the first event will be cancelled. 5.6.5.4 single tap detection a single tap is detected and the single tap interrupt is generated after the combined durations of (acc 0x2a) tap_shock and (acc 0x2a) tap_quiet , if the corresponding slope conditions are fulfilled. the interrupt is cleared after a delay of 12.5 ms. 5.6.5.5 double tap detection a double tap interrupt is generated if an event fulfilling the conditions for a single tap occurs within the set duration in (acc 0x2a) tap_dur after the completion of the first tap event. the interrupt is automatically cleared after a delay of 12.5 ms. 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
BMI055 d ata sheet page 36 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.6.5.6 s electing the timing of tap detection for each of parameters (acc 0x2a) tap_shock and (acc 0x2a) tap_quiet two values are selectable. by writing 0 (1) to bit (acc 0x2a) tap_shock the duration of (acc 0x2a) tap_shock is set to 50 ms (75 ms). by writing 0 (1) to bit (acc 0x2a) tap_quiet the duration of (acc 0x2a) tap_quiet is set to 30 ms (20 ms). the length of (acc 0x2a) tap_dur can be selected by setting the (acc 0x2a) tap_dur bits according to table 1 3 : table 1 3 : selection of tap_dur (acc 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 5.6.5.7 axis and sign information of tap sensing the sign of the slope of the first tap which triggered the interrupt is stored in bit (acc 0x0b) tap_sign (0 means positive sign, 1 means negative sign). the value of this bit persists after clearing the interrupt. the axis which triggered the interrupt is indicated by bits (acc 0x0b) tap_first_x , (acc 0x0b) tap_first_y , and (acc 0x0b) tap_first_z . the bit corresponding to the triggering axis contains a 1 while the other bits hold a 0. these bits are cleared toge ther with clearing the interrupt status. 5.6.5.8 tap sensing in low power mode in low - power mode, a limited number of samples is processed after wake - up to decide whether an interrupt condition is fulfilled. the number of samples is selected by bits (acc 0x2b) ta p_samp according to table 1 4 . table 1 4 : meaning of (acc 0x2b) tap_samp (acc 0x2b) tap_samp number of samples 00b 2 01b 4 10b 8 11b 16
BMI055 d ata sheet page 37 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.6.6 orientation recognition the orientation recognition feature informs on an orientation change of the sensor with respect to the gravitational field vector g. the measured acceleration vector components with respect to the gravitational field are defined as shown in figure 9. figure 9 : definition of vector components therefore, the magnitudes of the acceleration vectors are calculated as follows: acc_x = 1g x sin ? x cos ? acc_y = ?1g x sin ? x sin ? acc_z = 1g x cos ? acc_y/acc_x = ?tan ? depending on the magnitudes of the acceleration vectors the orientation of the device in the space is determined and stored in the three (acc 0x0c) orient bits. these bits may not be reset in the sleep phase of low - power mode. there are three orientation c alculation modes with different thresholds for switching between different orientations: symmetrical, high - asymmetrical, and low - asymmetrical. the mode is selected by setting the (acc 0x2c) orient_mode bits as given in table 1 5 . table 1 5 : orientation mode settings (acc 0x2c) orient_mode orientation mode 00b symmetrical 01b high - asymmetrical 10b low - asymmetrical 11b symmetrical
BMI055 d ata sheet page 38 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. for each orientation mode the (acc 0x0c) orient bits have a different meaning as shown in table 1 6 to table 1 8 : table 1 6 : meaning of the (acc 0x0c) orient bits in symmetrical mode (acc 0x0c) orient name angle condition x00 portrait upright 315 < ? < 45 |acc_y| < |acc_x| - hyst and acc_x - hyst 0 x01 portrait upside down 135 < ? < 225 |acc_y| < |acc_x| - hyst and acc_x + hyst < 0 x10 landscape left 45 < ? < 135 |acc_y| |acc_x| + hyst and acc_y < 0 x11 landscape right 225 < ? < 315 |acc_y| |acc_x| + hyst and acc_y 0 table 1 7 : meaning of the (acc 0x0c) orient bits in high - asymmetrical mode (acc 0x0c) orient name angle condition x00 portrait upright 297 < ? < 63 |acc_y| < 2 ? |acc_x| - hyst and acc_x - hyst 0 x01 portrait upside down 117 < ? < 243 |acc_y| < 2 ? |acc_x| - hyst and acc_x + hyst < 0 x10 landscape left 63 < ? < 117 |acc_y| 2 ? |acc_x| + hyst and acc_y < 0 x11 landscape right 243 < ? < 297 |acc_y| 2 ? |acc_x| + hyst and acc_y 0 table 1 8 : meaning of the (acc 0x0c) orient bits in low - asymmetrical mode (acc 0x0c) orient name angle condition x00 portrait upright 333 < ? < 27 |acc_y| < 0.5 ? |acc_x| - hyst and acc_x - hyst 0 x01 portrait upside down 153 < ? < 207 |acc_y| < 0.5 ? |acc_x| - hyst and acc_x + hyst < 0 x10 landscape left 27 < ? < 153 |acc_y| 0.5 ? |acc_x| + hyst and acc_y < 0 x11 landscape right 207 < ? < 333 |acc_y| 0.5 ? |acc_x| + hyst and acc_y 0 in the preceding tables, the parameter hyst stands for a hysteresis, which can be selected by setting the (acc 0x 2 c ) orient_hyst bits. 1 lsb of (acc 0x 2 c ) 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.
BMI055 d ata sheet page 39 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the most significant bit of the (acc 0x0c) orient bits (which is displayed as an x in the above given tables) contains information about the direction of the z - axis. it is set to 0 (1) if acc_z 0 (acc_z < 0). figure 1 0 shows the typical switching conditions between the four different orientations for the symmetrical mode i.e. without hysteresis: figure 10 : typical orientation switching conditions w/o hysteresis the orientation interrupt is enabled (disabled) by writing 1 (0) to bit (acc 0x16) orient_en . the interrupt is generated if the value of (acc 0x0c) orient has changed. it is automatically cleared after one stable period of the (acc 0x0c) orient value. the interrupt status is stored in the (acc 0x09) orient_int bit. the register (acc 0x0c) orient always reflects the current orientation of the device, irrespective of which interrupt mode has been selected. bit (acc 0x0c) orient <2> reflects the device orie ntation with respect to the z - axis. the bits (acc 0x0c) orient <1:0> reflect the device orientation in the x - y - plane. the conventions associated with register (acc 0x0c) orient are detailed in chapter 6. 5.6.6.1 orientation blocking the change of the (acc 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 (acc 0x2c) orient_blocking bits as described by table 19 . - 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
BMI055 d ata sheet page 40 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. table 19 : blocking conditions for orientation recognition (acc 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 (acc 0x2d) orient_theta bits. i t 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 cons equence, 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 t he z - axis, i. e. a after a sign change the interrupt is only generated after |z| > 0.2 g. 5.6.6.2 up - down interrupt suppression flag per default an orientation interrupt is triggered when any of the bits in register (acc 0x0c) orient changes state . the accelerometer can be configured to trigger orientation interrupts only when the device position changes in the x - y - plane while orientation changes with respect to the z - axis are ignored. a change of the orientation of the z - axis , and hence a state change o f bit ( acc 0x0c) orient<2> is ignored (considered) when bit ( acc 0x2d) orient_ud_en is set to 0 (1). . 8 _ tan theta blocking ? ?
BMI055 d ata sheet page 41 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.6.7 flat detection the flat detection feature gives information about the orientation of the devices z - axis relative to the g - vector, i. e. it recognizes whether the device is in a flat position or not. the flat angle ? is adjustable by (0x2e) flat_theta from 0 to 44.8 . t he flat angle can be set according to following formula: a hysteresis of the flat detection can be enabled by (0x2f) flat_hy bits. in this case the flat position is set if the an gle drops below following threshold : the flat position is reset if the angle exceeds the following threshold : the flat interrupt is enabled (disabled) by writing 1 (0) to bit (acc 0x16) flat_en . the flat value is stored in the (acc 0x0c) flat bit if the interrupt is enabled. this value is 1 if the device is in the flat position, it is 0 otherwise. the flat interrupt is generated if the flat value has changed and the new value is stable for at least the time given by the (acc 0x2f) flat _hold_time bits. a flat interrupt may be also generated if the flat interrupt is enabled. the actual status of the interrupt is stored in the (acc 0x09) flat_int bit. the flat orientation of the sensor can always be determined from reading the (acc 0x0c) f lat bit after interrupt generation. if unlatched interrupt mode is used , the (acc 0x09) flat_int value and hence the interrupt is automatically cleared after one sample period. if temporary or latched interrupt mode is used , the (acc 0x09) flat_int value i s kept fixed until the latch time expires or the interrupt is reset. the meaning of the (acc 0x2f) flat_hold_time bits can be seen from table 2 0 . table 2 0 : meaning of flat_hold_time (acc 0x2f) flat_hold_time time 00b 0 01b 512 ms 10b 1024 ms 11b 2048 ms ? ? ? ? ? ? ? ? flat_theta 8 1 atan ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 16 _ 1024 _ 1 flat_theta 8 1 atan , hy flat hy flat ll hyst ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 16 _ 1024 _ 1 flat_theta 8 1 atan , hy flat hy flat ul hyst
BMI055 d ata sheet page 42 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 5.6.8 low - g interrupt this interrupt is based on the comparison of acceleration data against a low - g threshold, which is most useful for free - fall detection. the interrupt is enabled (disabled) by writing 1 (0) to the (acc 0x17) low_en bit. there are two modes available, single mode and sum mode. in single mode, the acceleration of each axis is compared with the threshold; in sum mode, the sum of absolute values of all accelerations |acc_x| + |acc_y| + |acc_z| is compared with t he threshold. the mode is selected by the contents of the (acc 0x24) low_mode bit: 0 means single mode, 1 means sum mode. the low - g threshold is set through the (acc 0x23) low_th register. 1 lsb of (acc 0x23) low_th always corresponds to an accele ration of 7.81 mg (i.e. increment is independent from g - range setting). a hysteresis can be selected by setting the (acc 0x24) low_hy bits. 1 lsb of (acc 0x24) low_hy always corresponds to an acceleration difference of 125 mg in any g - range (as well, incr ement is independent from g - range setting). the low - g interrupt is generated if the absolute values of the acceleration of all axes (and relation, in case of single mode) or their sum (in case of sum mode) are lower than the threshold for at least the t ime defined by the (acc 0x22) low_dur register. the 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 p lus the hysteresis for at least one data acquisition. in bit (acc 0x09) low_int the interrupt status is stored. the relation between the content of (acc 0x22) low_dur and the actual delay of the interrupt generation is: delay [ms] = [ (acc 0x22) low_dur + 1] ? 2 ms. therefore, possible delay times range from 2 ms to 512 ms. 5.6.9 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 inte rrupt is enabled (disabled) per axis by writing 1 (0) to bits (acc 0x17) high_en_x , (acc 0x17) high_en_y , and (acc 0x17) high_en_z , respectively. the high - g threshold is set through the (acc 0x26) high_th register. the meaning of an lsb of (acc 0x26) high_th depends on the selected g - range: it corresponds to 7.81 mg in 2g - range, 15.63 mg in 4g - range, 31.25 mg in 8g - range, and 62.5 mg in 16g - range (i.e. increment depends from g - range setting). a hysteresis can be selected by setting the (acc 0x24) high _hy bits. analogously to (acc 0x26) high_th , the meaning of an lsb of (acc 0x24) high_hy is g - range dependent: i t 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, inc rement depends from g - range setting). the high - g interrupt is generated if the absolute value of the acceleration of at least one of the enabled axes (or relation) is higher than the threshold for at least the time defined by the (acc 0x25) high_dur reg ister. the interrupt is reset if the absolute value of the acceleration of all
BMI055 d ata sheet page 43 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. enabled axes (and relation) is lower than the threshold minus the hysteresis for at least the time defined by the (acc 0x25) high_dur register. in bit (acc 0x09) high_int the interrupt status is stored. the relation between the content of (acc 0x25) high_dur and the actual delay of the interrupt generation is delay [ms] = [ (acc 0x22) low_dur + 1] ? 2 ms. therefore, possible delay times range from 2 ms to 512 ms. 5.6.9.1 axis and sign information of high - g interrupt the axis which triggered the interrupt is indicated by bits (acc 0x0c) high_first_x , (acc 0x0c) high_first_y , and (acc 0x0c) high_first_z . the bit corresponding to the triggering axis contains a 1 while the other bits hold a 0. these bits are cleared together with clearing the interrupt status. the sign of the triggering acceleration is stored in bit (acc 0x0c) high_sign . if (acc 0x0c) high_sign = 0 (1), the sign is positive (negative). 5.6.10 no - motion / slow motion detection the slow - motion/no - motion interrupt engine can be configured in two modes. in slow - motion mode an interrupt is triggered when the measured slope of at least one enabled axis exceeds the programmable slope threshold for a programmable number of samples. hence the engine behaves similar to the any - motion interrupt, but with a different set of parameters. in order to suppress false triggers , the interrupt is only generated (cleared) if a certain number n of consecutive slope data points is larger (smaller) than the slope threshold given by (acc 0x27 ) slo_no_mot_dur<1:0> . the number is n = (acc 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 1 1 shows the timing diagram for the no - motion interrupt. the scaling of the threshold value is identical to that of the slow - motion interrupt. however, in no - motion mode register (acc 0x27) slo_no_mot_dur defines the delay time before the no - motion interrupt is triggered. table 2 1 l ists the delay times adjustable with register (acc 0x27) slo_no_mot _dur. the timer tick period is 1 second. hence using short delay times can result in considerable timing uncertainty. if bit (acc 0x18) slo_no_mot_sel is set to 1 (0) the no - motion/slow - motion interrupt engine is configured in the no - motion (slow - moti on) mode. common to both modes, the engine monitors the slopes of the axes that have been enabled with bits (acc 0x18) slo_no_mot_en_x , (acc 0x18) slo_no_mot_en_y , and (acc 0x18) slo_no_mot_en_z for the x - axis, y - axis and z - axis, respectively . the measure d slope values are continuously compared against the threshold value defined in register (acc 0x29) slo_no_mot_th . the scaling is such that 1 lsb of (acc 0x29 ) slo_no_mot _th corresponds to 3.91 mg in 2g - range (7.81 mg in 4g - range, 15.6 mg in 8g - range and 3 1.3 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 s amples depends on the selected bandwidth and equates to 1/(2 * bw) .
BMI055 d ata sheet page 44 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. table 2 1 : no - motion time - out periods (acc 0x27) slo_no_mot_dur delay t ime (acc 0x27) slo_no_mot_dur delay t ime (acc 0x27) slo_no_mot_dur delay time 0 1 s 16 4 0 s 32 88 s 1 2 s 17 4 8 s 33 96 s 2 3 s 18 56 s 34 104 s .. . .. . 19 64 s. .. . .. . 14 15 s 20 7 2 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 figure 11 : timing of n o - motion interrupt 5.7 softreset accelerometer a softreset causes all user configuration settings to be overwritten with their default value and the sensor to enter normal mode. a softreset is initiated by means of writing value 0xb6 to register (acc 0x14)softrset. subsequently a waiting time of t w,up1 (max.) is required prior to accessing any configuration register. 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 )
BMI055 d ata sheet page 45 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 6. regi ster description a ccelerometer 6.1 general remarks accelerometer the entire communication with the device is performed by reading from and writing to registers. registers have a width of 8 bits; they are mapped to a common space of 64 addresses from (acc 0x00) up to (acc 0x3f) . within the used range there are several registers which are either completely or partially marked as reserved. any reserved bit is ignored when it is written and no specific value is guaranteed when read. it is recommended not to use r egisters at all which are completely marked as reserved. furthermore it is recommended to mask out (logical and with zero) reserved bits of registers which are partially marked as reserved. registers with addresses from (acc 0x00) up to (acc 0x0e) are r ead - only. any attempt to write to these registers is ignored. there are bits within some registers that trigger internal sequences. these bits are configured for write - only access, e. g. (acc 0x21) reset_int or the entire (acc 0x14) softreset register , and read as value 0.
BMI055 d ata sheet page 46 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 6.2 register map accelerometer figure 12 : register map accelerometer part 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.
BMI055 d ata sheet page 47 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x00 ( bgw_ chip i d) the register c on tains 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 acc register 0x01 is reserved acc register 0x02 (accd_x_lsb) the register contains the least - significant bits of the x - channel acceleration readout value. when reading out x - channel acceleration values, data consistency is guaranteed if the accd_x_lsb is read out before the accd_x_msb and shadow_dis=0. in this case, after the accd_x_lsb has been read, the value in the accd_x_msb register is locked until the accd_x_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. acceleration data may be read from register accd_x_lsb at any tim e except during power - up and in deep_suspend 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 undefined 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 it has been read out last
BMI055 d ata sheet page 48 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x03 (accd_x_msb) the register contains the most - significant bits of the x - channel acceleration readout value. when reading out x - channel acceleration values, data consistenc y 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 fulfil led 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 0x02 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> 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 read - back value (twos - complement format) acc register 0x04 (accd_y_lsb) the register contains the least - significant bits of the y - channel acceleration readout value. when reading out y - channel acceleration values, data consistency is guaranteed if the accd_y_lsb is read out before the accd_y_msb and shadow_dis=0. in this case, after the accd_y_lsb has been read, the value in the accd_y_msb register is locked until the accd_y_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. acceleration data may be read from register accd_y_lsb at any time except during power - up and in deep_suspend mode. name 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 undefined new_data_y
BMI055 d ata sheet page 49 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc_y_lsb<3:0>: least significant 4 bits of acceleration read - back 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 acc register 0x05 (accd_y_msb) the register contains the most - significant bits of the y - channel acceleration readout value. when reading out y - channel acceleration values, data consisten cy 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 fulfi lled 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 read - back value (twos - complement format) acc register 0x06 (accd_z_lsb) the register contains the least - significant bits of the z - channel acceleration readout value. when reading out z - channel acceleration values, data consistency is guaranteed if the accd_z_lsb is read out before the accd_z_msb and shadow_dis=0. in this case, after the accd_z_lsb has been read, the value in the accd_z_msb register is locked until the accd_z_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. acceleration data may be read from register accd_z_lsb at any time except during power - up and in deep_suspend mode. name 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>
BMI055 d ata sheet page 50 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content undefined undefined undefined new_data_z acc_z_lsb<3:0>: least significant 4 bits of acceleration read - back 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 acc register 0x07 (accd_z_msb) the register contains the most - significant bits of the z - channel acceleration readout value. when reading out z - channel acceleration values, data consistency is guaranteed if the accd_z_lsb is read out before the accd_z_msb and shadow_dis=0. in this case, after the accd_z_lsb has been read, the value in the accd_z_msb register is locked until the accd_z_msb has been read. this condition is inheren tly fulfilled if a burst - mode read access is performed. acceleration data may be read from register accd_z_msb at any time except during power - up and in deep_suspend mode. name 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 read - back value (twos - complement format) acc register 0 x08 ( 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 23c.
BMI055 d ata sheet page 51 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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) acc register 0x09 (int_status_0) the register contains interrupt status flags. each flag is associated with a specific interrupt function. it is set when the associated interrupt triggers. the setting of latch_int<3:0> controls if the interrupt signal and hence the respective interrupt flag will be permanently latched, temporarily latched or not latched. th e 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 ? in active, 1 ? active low_int: low - g interrupt status : 0 ? inactive, 1 ? active
BMI055 d ata sheet page 52 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x0a (int_status_1) the register contains interrupt status flags. each flag is associated with a specific interrupt function. it is set when the associated interrupt engine triggers. the setting of latch_int<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 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 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 acc register 0x0b (int_status_2) the register contains interrupt status flags. each flag is associated with a specific interrupt engine. it is set when the associated interrupt engine triggers. the setting of latch_int<3:0> controls if the interrupt signal and hence the res pective 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
BMI055 d ata sheet page 53 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 - axis tap_first_x: single/double tap interrupt: 1 ? trigge red 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 triggered by z - axis slope_first_y: slope interrupt: 1 ? trigge red by, or 0 ? not triggered by y - axis slope_first_x: slope interrupt: 1 ? triggered by, or 0 ? not triggered by x - axis acc register 0x0c (int_status_3) the register contains interrupt status flags. each flag is associated with a specific interrupt engine. it is set when the associated interrupt engine triggers. with the exception of orient<3:0> 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 no t 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 (acc 0x16) flat_en = 1 orient<2>: o rientation value of z - axis : 0 ? upward looking, or 1 ? downwa rd 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 active. orient<1:0>: orientation value of x - y - plane: 00 ? portrait upr ight; 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 - axis high_first_y: high - g interrupt: 1 ? triggered by, or 0 ? no t triggered by y - axis high_first_x: high - g interrupt: 1 ? triggered by, or 0 ? not triggered by x - axis
BMI055 d ata sheet page 54 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x0d is reserved acc register 0x0e (fifo_status) the register contains fifo 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> 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 counter can be cleared by reading out all frames from th e fifo buffer or writing to the fifo configuration register fifo_config_1. acc register 0x0f (pmu_range) the register allows the selection of the accelerometer g - range . name 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; a ll other settings ? 2g range reserved: write 0
BMI055 d ata sheet page 55 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc 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> 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< 4 :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 acc register 0x11 (pmu_lpw) s election 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 note that only certain power mode transitions are permitted.
BMI055 d ata sheet page 56 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. sleep_dur<3:0>: c onfigures 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 please note, that all application specific settings which are not equal to the default settings (refer to 6.2 register map), must be re - set to its designated values after deep_suspend. acc register 0x12 (pmu_low_ power ) configuration settings for low power mode. name 0x12 pmu_low_power 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 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 must be slowed down. in the lpm2 configuration the power consumption in low_power mode is reduced compared to normal mode, but the fifo is fully accessible and registers can be written to at full speed. sleeptimer_m ode: 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
BMI055 d ata sheet page 57 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x13 (accd_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 0 acc 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 operation modes. please note that all application specific settings which are not equal to the default settings (refer to 6.2 register map), must be reconfigured to their designated values.
BMI055 d ata sheet page 58 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x15 is reserved acc 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 acc 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 int_fwm_en: fifo watermark interrupt: 0 ? disabled, or 1 ? enabled int_ffull_en: fifo full interrupt: 0 ? disabled, or 1 ? enabled
BMI055 d ata sheet page 59 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 in terrupt, x - axis component: 0 ? disabled, or 1 ? enabled acc register 0x18 (int_en_2) controls which interrupt engines in group 2 are enabled. name 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 slo_no_mot_en_x: slow/n - motion interrupt, x - axis component : 0 ? disabled, or 1 ? enabled acc register 0x1 9 (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 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
BMI055 d ata sheet page 60 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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_mot: map slow/no - motion interrupt to int1 pin: 0 ? disabled, or 1 ? enabled int1_ slope: map slope interrup t 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 ? disabled, or 1 ? enabled acc 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 ? enab led
BMI055 d ata sheet page 61 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc 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 int2_ low: map low - g to int2 pin : 0 ? disabled, or 1 ? enabled acc register 0x1c is reserved acc register 0x1 d is reserved acc register 0x1e (int_src) c ontains 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 int_src_slope int_src_high int_src_low
BMI055 d ata sheet page 62 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. ot reserved: write 0 int_src_data: select 0 ? filtered, or 1 ? unfiltered data for new data interrupt int_src_tap: select 0 ? filtered, or 1 ? unfiltered data for single - /double tap interrupt int_src_slo_no_mot: select 0 ? filtered, or 1 ? unfiltered data for slow/no - motion interrupt int_src_ slope: select 0 ? filtered, or 1 ? unfiltered data for slope interrupt int_src_high : s elect 0 ? filtered, or 1 ? unfiltered data for high - g interrupt int_src_ low: select 0 ? filtered, or 1 ? unfiltered data for low - g interrupt acc register 0x1f is reserved acc register 0x20 (int_out_ctrl) c ontains the behavioural configuration (electrical behaviour) 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 acc register 0x21 (int_rst_latch) c ontains 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 r eserved
BMI055 d ata sheet page 63 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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> 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 , 1001 b ? temporary, 2 50 ? s , 1010b ? temporary, 500 ? s , 1011b ? temporary, 1 ms , 1100b ? temporary, 12.5 ms , 1101b ? temporary, 25 ms , 1110b ? temporary, 50 ms , 1111b ? latched acc register 0x22 (int_0) c ontains the delay time definition for the low - g interrupt. name 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. acc register 0x23 (int_1) c ontains 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>
BMI055 d ata sheet page 64 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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> 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 acc register 0x24 (int_2) c ontains 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 in dependent of the selected accelerometer g - range acc register 0x25 (int_3) c ontains 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>
BMI055 d ata sheet page 65 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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. acc register 0x26 (int_4) c ontains 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) acc register 0x27 (int_5) c ontains 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>
BMI055 d ata sheet page 66 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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_mot_th) for the slow - /no - motion interrupt to trigger. if the no - motion interrupt function has been enabled (sl o_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_mot_th) for the slow/no - motion interrupt to trigger. the delay time in seconds may be calculated according with the following equation: 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_mot_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> acc register 0x28 (int_6) c ontains 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 . 9 1 mg (2 - g range) / slope _th<7:0> 7.81 mg (4 - g range) / slope _th<7:0> 15.6 3 mg (8 - g range) / slope _th<7:0> 31.25 mg (16 - g range)
BMI055 d ata sheet page 67 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x29 (int_7) c ontains 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> 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> 3.9 1 mg (2 - g range) , slo _no_mot _th<7:0> 7 . 81 mg (4 - g range), slo _no_mot _th<7:0> 1 5 . 63 mg (8 - g range), slo _no_mot _th<7:0> 31 . 2 5 mg (16 - g range) acc register 0x2a (int_8) c ontains 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 ? 3 0 ms, 1 ? 2 0 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 .
BMI055 d ata sheet page 68 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x2b (int_9) c ontains 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 value 1 0 1 0 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 ) . acc register 0x2c (int_a) c ontains the definition of hysteresis, 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>
BMI055 d ata sheet page 69 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 a vailable: 00b ? no blocking , 01b ? theta blocking or acceleration in any axis > 1.5g , 10b ? , theta blocking or acceleration slope in any axis > 0.2 g or acceleration in any axis > 1.5g 11b ? theta blocking or acceleration slope in any axis > 0.4 g or acceleration in any axis > 1.5g and value of orient is not stable for at least 100ms orient_mode<1:0>: sets the thresholds for switching between the diffe rent orientations. the settings: 00b ? symmetrical , 01b ? high - asy mmetrical , 10b ? low - as ymmetrical, 11b ? symmetrical . acc register 0x2d (int_b) c ontains the definition of the axis orientation, up/down masking, and 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 acc register 0x2e (int_c) c ontains 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>
BMI055 d ata sheet page 70 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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. acc register 0x2f (int_d) c ontains 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 more than twice the val ue of flat interrupt hysteresis to detect a state change. for details see chapter 4.7.8. 000b ? hysteresis of the flat detection disabled acc 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>
BMI055 d ata sheet page 71 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 is equal to fifo_water_mark_level_trigger_retain<5:0>; acc regis ter 0x 3 1 is reserved acc register 0x32 (pmu_self_test) c ontains 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 , 01 b ? x - axis , 10 b ? y - axis , or 11 b ? 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
BMI055 d ata sheet page 72 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x33 (trim_nvm_ctrl) c ontains 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 ? trigge r, or 0 ? do not trigger an nvm write operation; the trigger is only accepted if the nvm was unlocked before and nvm_remain<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 n vm write operation acc register 0x34 (bgw_spi3_wdt) c ontains 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
BMI055 d ata sheet page 73 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 acc register 0x 35 is reserved acc register 0x36 (ofc_ctrl) c ontains 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 compensation is in progress , or 1 ? offset compensation is ready to be retriggered reserved: write 0 hp_z_en: 1 ? enable, or 0 ? disable slow off set compensation for the z - axis hp_y_en: 1 ? enable, or 0 ? disable slow off set compensation for the y - axis hp_x_en: 1 ? enable, or 0 ? disable slow off set compensation for the x - axis
BMI055 d ata sheet page 74 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x3 7 (ofc_setting) c ontains 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 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, o r 1 ? 10 hz cut - off frequency for slow offset compensation high - pass filter acc register 0x38 (ofc_offset_x) c ontains 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>
BMI055 d ata sheet page 75 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. offset_ x<7:0>: offset value, which is added to 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 scaling 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 gene rated automatically after triggering the fast offset compensation procedure for the x - axis example: original readout value value in offset register compensated readout value 0 g 127 0.992 g 0 g 0 0 g 0 g - 128 - 1 g acc register 0x39 (ofc_offset_y) c ontains 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> 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_y<7:0>: offset value, which is added to 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 for reference s ee example at acc register 0x38 (ofc_offset_x)
BMI055 d ata sheet page 76 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x3a (ofc_offset_z) c ontains the offset compensation value for z - axis acceleration re adout 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_z<7:0>: offset value, which is added to 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 t he 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 for reference see example at acc register 0x38 (ofc_offset_x) acc register 0x3b (trim_gp0) c ontains 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
BMI055 d ata sheet page 77 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x3c (trim_gp1) c ontains 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 acc register 0x 3d is reserved acc register 0x3e (fifo_config_1) c ontains 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 discarded), 11b ? reserved, do not use 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
BMI055 d ata sheet page 78 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. acc register 0x3f (fifo_data) fifo data readout register. t he f ormat of the lsb and msb components corresponds to that of the acceleration data readout registers. the new data flag is preser ved. 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
BMI055 d ata sheet page 79 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 7. functional description gyro note: default values for registers can be found in chapter 8 . 7.1 power modes g yro sc ope the gyro scope has 4 different power modes. besides normal mode, which represents the fully operational state of the device, there are 3 energy saving modes: deep - suspend mode, suspend mode, and fast power up figure 13 : block diagram of the power modes of gyro scope after power - up gyro is in normal mode so that all parts of the device are held powered - up and data acquisition is performed continuously.
BMI055 d ata sheet page 80 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 (gy r 0x11) deep_suspend bit. the i 2 c watchdog timer remains functional. the (gyr 0x11) deep_ suspend bit, the (gyr 0x34) spi3 bit, (gyr 0x34) i2c_wdt_en bit and the (gyr 0x34) i2c_wdt_sel bit are functional in deep - suspend mode. equally the interrupt level an d driver configuration registers (gyr 0x20) int1_lvl , (gyr 0x20) int1_od , (gyr 0x20) int2_lvl , and (gyr 0x20) int2_od are accessible. still it is possible to enter normal mode by writing to the (gyr 0x14) softreset register. please note, that all applicati on specific settings which are not equal to the default settings (refer to 8.2 register map gyroscope), must be re - set to its designated values after leaving deep - suspend mode. in suspend mode the whole analog part is powered down. no data acquisition is performed. while in suspend mode the latest rate data and the content of all configuration registers are kept . the only supported operations are reading registers as well as writing to the (gyr 0x14) softreset register. suspend mode is entered (left) by writing 1 (0) to the (gyr 0x11) suspend bit. bit (gyr 0x12) fast_power_up must be set to 0. although write access to registers is supported at the full interface clock speed (scl or sck), a waiting period must be in serted between two consecutive write cycles (please refer also to section 9.2.1). in external wake - up mode , when the device is in deep suspend mode or suspend mode, it can be woken - up by external trigger to pin int3/4. register settings: table 22 ext_t rig_sel [1:0] trigger source 00 01 10 11 fast power - up mode the sensing analog part is powered down, while the drive and the digital part remains largely operational. no data acquisition is performed. reading and writing registers as well as writing to the (gyr 0x14) softreset register are supported without any re strictions. the latest rate data and the content of all configuration registers are kept. fast power - up mode is entered (left) by writing 1 (0) to the (gyr 0x11) suspend bit with bit (gyr 0x12) fast_power_up set to 1. 7.1.1 advanced power - saving modes in addition to the power modes described in figure 13, there are other advanced power modes that can be used to optimize the power consumption of the BMI055. the power_save_mode is set by setting power_save_mode=1 ( gyr 0x12 ). this power mode implements a d uty cycle and change between normal mode and fast - power - up mode. by setting the sleep_dur (time in ms in fast - power - up mode) ( gyr 0x11 bits <1:3>) and auto_slee p _dur (time in ms in normal mode) ( gyr 0x12 bits <0:2>) different timings can be
BMI055 d ata sheet page 81 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. used. some of t hese settings allow the sensor to consume less than 3ma. see also diagram below: figur e 14: duty - cycling the possible configuration for the autosleep_dur and sleep_dur are indicated in the table below: table 2 3 sleep_dur < 2:0 > time (ms) 000 001 010 011 100 101 110 111 autosleep_dur < 2:0 > time (ms) 000 001 010 011 100 101 110 111 gyr 0x10 ). for each b andwidth configuration, a minimum autosleep_dur must be ensured. for example, for bandwidth=47hz, the minimum autosleep_dur is 5ms. this is specified in the table below. for sleep_dur there is no restriction. i [ m a ] t o f f f a s t p o w e r u p n o r m a l p o w e r u p a u t o s l e e p d u r s l e e p d u r s l e e p d u r s l e e p d u r s l e e p d u r s l e e p d u r a u t o s l e e p d u r a u t o s l e e p d u r a u t o s l e e p d u r a u t o s l e e p d u r
BMI055 d ata sheet page 82 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. table 25 bw<3:0> bandwidth (hz) mini autosleep _dur (ms) 0111 0110 0101 0100 0011 0010 0001 0000 7.2 imu data gyr o 7.2.1 rate data the angular rate data can be read - out through addresses gyr 0x02 through gyr 0x07 . the angular rate data is in 2s complement form according to table 2 6 below. in order to not corrupt the angular rate data, the lsb should always be read out first. once the lsb of the x,y, or z read - out registers have been read, the msbs are locked until the msbs are read out. this default behavior can be switched off by setting the address ( gyr 0x13 ) bit 6 (shado w_dis) = 1. in this case there is no msb locking, and the data is updated between each read. the burst - access mechanism provides an efficient way to read out the angular rate data in i 2 c or spi mode . during a burst - access, the gyro automatically inc rements the starting read address after each byte. any address in the user space can be used as a starting address. when the address ( gyr 0x3f C fifo_data) is reached, the address counter is stopped. in the user space address range, the ( gyr 0x3f C fifo _data ) will be continuously read out until burst read ends. it is also possible to start directly with address 0x3f. in this case, the fifo_data ( gyr 0x3f ) data will be read out continuously. the burst - access allows data to be transferred over the i 2 c bus with an up to 50% reduced data density. the angular rate data in all read - out registers is locked as long as the burst read access is active. reading the chip angular rate registers in burst read access mode ensures that the angular rate values in all readout registers belong to the same sample. table 26: gyroscope register content for 16bit mode decimal value angular rate (in 2000/s range mode) +32767 + 2000/s set to 1.
BMI055 d ata sheet page 83 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 7.3 angular rate read - out bandwidth configuration : the gyro processes the 2khz data out of the analog front end with a cic/decimation filter, followed by an iir filter before sending this data to the interrupt handler . the possible decimation factors are 2, 5, 10 and 20. it is also possible to bypass these filters, and use the unfiltered 2khz data. the decimation factor / bandwidth of the filter can be set by setting the address space gyr 0x10 bits<3:0> (bw<3:0>) as shown in the memory map se ction. 7.4 self - test gyro a built - in self test (bist) facility has been implemented which provides a quick way to determine if the gyroscope is operational within the specified conditions. the bist uses three parameters for evaluation of proper device opera tion: - drive voltage regulator - sense frontend offset regulator of x - ,y - and z - channel - quad regulator for x - ,y - and z - channel if any of the three parameters is not within the limits the bist result will be fail. to trigger the bist bit0 bite_trig in ad dress gyr 0x3c must be set `1. when the test is performed, bit1 bist_rdy will be 1. if the result is failed the bit bist_failed will be set to 1, otherwise stay a 0. figure 15 : flow diagram another possibility to get information about the sensor status is to read out rate_ok gyr 0x3c bit4. 1 indicates proper sensor function, no trigger is needed for this. b i t e _ t r i g 0 x 3 c = ` 1 ` b i s t _ r d y = 1 b i s t _ f a i l e d = 1 ? r e s u l t : f a i l u r e b i s t _ f a i l e d = 0 ? r e s u l t : o k
BMI055 d ata sheet page 84 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 7.5 offset compensation g yro scope offsets in measured signals can have several causes bu t they are always unwanted and disturbing in many cases. therefore, the gyro offers an advanced set of four digital offset compensation methods which are closely matched to each other. these are slow, fast, and manual compensation as well as inline calibration. 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 compensati on values have a width of 8 bits. the public offset compensation registers (gyr 0x36) to (gyr 0x39) are image of the corresponding registers in the nvm. with each image update (see section 7 .6 non - volatile memory gyroscope for details) the contents of the nvm registers are written to the public registers. the public register can be over - written by the user at any time. in case an internally computed compensation value is too small or too large to fit into the corresponding register, it is saturated in or der to prevent an overflow error. for every axes an offset up to 125/s with 12 bits full resolution can be calibrated (resolution 0.06/s). the mode s will be controlled using spi/i 2 c commands. by writing 1 to the (gyr 0x21) offset_reset bit, all dynamic (fast & slow) offset compensation registers are reset to zero. 7.5.1 slow compensation in slow regulation mode, the rate data is monitored permanently. if the rate data is above 0/s for a certain period of time, an adjustable rate is subtracted by the offset controller. this procedure of monitoring the rate data and subtracting of the adjustable rate at a time is repeated continuously. thus, the output of the offset converges to 0/s. the slow regulation can be enabled through the slow_offset_en_x/y/z ( gyr 0x31 <0:2>) bits for each axis. the slow offset cancellation will work for filtered and unfiltered data (slow_offset_unfilt (gyr 0x1a <5>); slow_offset_unfilt=1 ? unfiltered data are selected) slow offset cancellation settings are the adjustable rate (slow offset_th 0x31 <7:6>) and the time period (slow_offset_dur 0x31 <5:3>) 7.5.2 fast compensation a fast offset cancellation controller is implemented in gyro. the fast offset cancellation process is triggerable via spi/i2c. the fast offset cancellation can be enabled through the fast_offset_en_x/y/z (gyr 0x32 <0:2>) bits for each axis. the enable bits will not start the fast offset cancellation! the fast offset cancellation has to be started by setting the fast_offset_en (gyr 0x32 <3>) bit. afterwards the algorithm will start and if the algorithm is finished the fast_offset_en (gyr 0x32 <3>) will be reset to 0. the fast offset cancellation will work for filtered and unfiltered data ( fast _offset_unfilt (gyr 0x1 b < 7 >) ; fast _offs et_unfilt =1 ? unfiltered data are selected )
BMI055 d ata sheet page 85 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the fast offset cancellation paramete r s are fast_offset_wordlength (gyr 0x32 <5:4>) the sample rate for the fast offset cancellation corresponds to the sample rate of the selected bandwidth . for unfiltered data and bandwidth settings 0 - 2 the sample rate for the fast offset cancellation will be 400hz. the resolution of the calculated offset values for the fast offset compensation depends on the, range setting being less accurate for higher range (e.g. range=2000 /s).therefore we recommend a range setting of range=125/s for fast offset compensation. 7.5.3 manual compensation the contents of the public compensation registers (gyr 0x36 0x39) offset_x/y/z can be set manually via the digital interface. it is recommended to write into these registers directly after a new data interrupt has occurred in order not to disturb running offset computations. writing to the offset compensation registers is not allow ed while the fast compensation procedure is running. 7.5.4 inline calibration for certain applications , it is often desirable to calibrate the offset once and to store the compensation values permanently. this can be achieved by using one of the aforementioned offset compensation methods to determine the proper compensation values and then storing these values permanently in the nvm. see section 7 . 6 non - volatile memory gyroscope for details of the storing procedure. each time the device is reset, the compensati on values are loaded from the non - volatile memory into the image registers and used for offset compensation until they are possibly overwritten using one of the other compensation methods. 7.6 non - volatile memory gyroscope the entire memory of the gyro consists of three different kinds of registers: hard - wired, volatile, and non - volatile. part of it can be both read and written by the user. access to non - volatile memory is only possible through (volatile) image registers. altogether, there are eight reg isters (octets) with nvm backup which are accessible by the user. the addresses of the image registers range from (gyr 0x36 ) to (gyr 0x3b ) . while the addresses up to ( gyr 0x39 ) are used for offset compensation (see 7.5 offset c ompensation gyroscope ), addre sses ( gyr 0x3a ) and ( gyr 0x3b ) are general purpose registers not linked to any sensor - specific functionality. the content of the nvm is loaded to the image registers after a reset (either por or softreset) or after a user request which is performed by writing 1 to the write - only bit (gyr 0x33) nvm_load . as long as the image update is in progress, bit (gyr 0x33) nvm_rdy is 0, otherwise it is 1. in order to read out the correct values (after nvm loading) waiting time is min. 1ms. the image registers can be read and written like any other register.
BMI055 d ata sheet page 86 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. writing to the nvm is a three - step procedure: 4. write the new contents to the image registers. 5. write 1 to bit (gyr 0x33) nvm_prog_mode in order to unlock the nvm. 6. write 1 to bit (gyr 0x33) nvm_prog_trig and keep 1 in bit (gyr 0x33) nvm_prog_mode in order to trigger the write process. writing to the nvm always renews the entire nvm contents. it is possible to check the write status by reading bit (gyr 0x33) nvm_rdy . while (gyr 0x33) nvm_rdy = 0, the write process is still in progress; if (gyr 0x33) nvm_rdy = 1, then writing is compl eted. as long as the write process is ongoing, no change of power mode and image registers is allowed. also, the nvm write cycle must not be initiated while image registers are updated , in suspend mode. please note that the number of permitted nvm write - c ycles is limited as specified in table 3 . the number of remaining write - cycles can be obtained by reading bits (gyr 0x33) nvm_remain . 7.7 interrupt controller gyro the gyro is equipped with 3 p rogrammable interrupt engines. each interrupt can be independently enabled and configured. if the trigger condition of an enabled interrupt is fulfilled, the corresponding status bit is set to 1 and the selected interrupt pin is activated. the gyro provides two interrupt pins, int 3 and int 4 ; interrupts can be freely ma pped to any of these pins. the state of a specific interrupt pin is derived from a logic or combination of all interrupts mapped to it. the interrupt status registers are updated when a new data word is written into the rate data registers. if an interr upt is disabled, all active status bits associated with it are immediately reset. gyro interrupts are fully functional in normal mode, only. interrupts are limited in their functionality in other operation modes. please contact our technical support for f urther assistance. 7.7.1 general features an interrupt is cleared depending on the selected interrupt mode, which is common to all interrupts. there are three different interrupt modes: non - latched, latched, and temporary. the mode is selected by the (gyr 0x21) latch_int bits according to table 2 7 .
BMI055 d ata sheet page 87 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. table 2 7 : interrupt mode selection (gyr 0x21) latch_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 can not 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 int 3 and/or int 4 ) are cleared as soon as the activat ion condition is no more valid. exception to this behavior is the new data interrupt which is automatically reset after a fixed time. in latched mode an asserted interrupt status and the selected pin are cleared by writing 1 to bit (gyr 0x21) reset_int . if the activation condition still holds when it is cleared, the interrupt status is asserted again with the next change of the rate registers. in the temporary mode an asserted interrupt and selected pin are cleared after a defined period of time. the beh aviour of the different interrupt modes is shown graphically in figure 16. the timings in this mode are subject to the same tolerances as the bandwidths (see table 3). figure 16: interrupt modes 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
BMI055 d ata sheet page 88 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 7.7.2 mapping to physical interrupt pins (inttype to int pin#) registers (gyr 0x17) to (gyr 0x19) are dedicated to mapping of interrupts to the interrupt pins int3 or int 4 . setting (gyr 0x17) int1 _inttype to 1 (0) maps (unmaps) inttype to pin int3 . correspondingly setting (gyr 0x19) int2 _inttype to 1 (0) maps (unmaps) inttype to pin int 4 . note: inttype has to be replaced with the precise notation, given in the memory map in chapter 8 . 7.7.3 electrical behaviour (int pin# to open - drive or push - pull) both interrupt pins can be configured to show the desired electrical behaviour. the active level of each interrupt pin is determined by the (gyr 0x16) int1_lvl and (gyr 0x16) int2_lvl bits. if (gyr 0x16) int1_lvl = 1 (0) / (gyr 0x16) int2_lvl = 1 (0), then pin int 3 / pin int 4 is active 1 (0). the characteristic of the output driver of the interrupt pins may be configured with bits (gyr 0x16) int1_od and (gyr 0x16) int2_od . by setting bits (gyr 0x16) int1_od / (gyr 0x16) int2_od to 1, the output driver shows open - drive characteristic, by setting the configuration bits to 0, the output driver shows push - pull characteristic. when open - drive characteristic is selected in the design, external pull - up or pull - down resistor should be a pplied according the int_lvl configuration. when open - drive characteristic is selected in the design, external pull - up or pull - down resistor should be applied according the int_lvl configuration. 7.7.4 new data interrupt this interrupt serves for synchronous r eading of angular rate data. it is generated after storing a new value of z - axis angular rate data in the data register. the interrupt is cleared automatically after 280 - 400 s (depending on interrupt settings). the interrupt mode of the new data interrup t is fixed to non - latched. it is enabled (disabled) by writing 1 (0) to bit (gyr 0x15) data_en . the interrupt status is stored in bit (gyr 0x0a) data_int . 7.7.5 any - motion detection / interrupt any - motion (slope) detection uses the slope between successive angular rate signals to detect changes in motion. an interrupt is generated when the slope (absolute value of angular rate difference) exceeds a preset threshold. it is cleared as soon as the slope falls below the threshold. the principle is made clear in figure 17.
BMI055 d ata sheet page 89 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. figure 1 7 : principle of any - motion detection ,(will be updated) the threshold is defined through register (gyr 0x1b) any_th . in terms of scaling 1 lsb of (gyr 0x1b) any_th corresponds to 1 / s in 2000/s - range (0.5/s in 1000/s - range, 0.25/s in 500/s - range ). therefore the maximum value is 125/s in 2000/s - range (62.5/s 1000/s - range, 31.25 /s in 500/s - range ). the time difference between the successive angular rate signals depends o n the selected update rate(fs) which is coupled to the bandwidth and equates to 1/(4*fs) ( t=1/(4*fs)). for bandwidhth settings with an update rate higher than 400hz (bandwidth =0, 1, 2) fs is set to 400hz. i n order to suppress false triggers, the interrupt is only generated (cleared) if a certain number n of consecutive slope data points is larger (smaller) than the slope threshold given by (gyr 0x1b) any_th . this number is set by the (gyr 0x1 c ) any_dursample bits. it is n = [ (gyr 0x1c) any_dursample + 1]*4 for (gyr 0x1c). n is set in samples. thus the time is scaling with the update rate (fs). example: (gyr 0x1c) slope_dur = 00b, , 11b = 4 samples, , 16 samples. 7.7.5.1 enabling (disabling) for each axis any - motion detection can be enabled (disabled) for each axis separately by writing 1 (0) to bits (gyr 0x1c) any_en_x , (gyr 0x1c) any_en_y , (gyr 0x1c) any_en_z . the criteria for any - motion detection are fulfilled and the any - motion interrupt is generate d if the slope of any of the enabled axes exceeds the threshold (gyr 0x1b) any_th for [ (gyr 0x1c) slope_dur +1]*4 consecutive times . as soon as the slopes of all enabled axes fall or stay below this threshold for [ (gyr 0x1c) slope_dur +1]*4 consecutive times the interrupt is cleared unless interrupt signal is latched. slope_th int slope angular rate rate (t 0 ) rate (t 0 ?1/( 4 * fs )) slope(t 0 )= gyro (t 0 )? gyro (t 0 ?1/(2*bw)) time time time slope_dur slope_du r
BMI055 d ata sheet page 90 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 7.7.5.2 axis and sign information of slope / any motion interrupt the interrupt status is stored in bit (gyr 0x09) any_int . the any - motion interrupt supplies additional informat ion about the detected slope. the axis which triggered the interrupt is given by that one of bits (gyr 0x0b) any_first_x , (gyr 0x0b) any_first_y , (gyr 0x0b) any_first_z that contains a value of 1. the sign of the triggering slope is held in bit (gyr 0x0b ) any_sign until the interrupt is retriggered. if (gyr 0x0b) slope_sign = 1 (0), the sign is positive (negative). 7.7.6 high - rate interrupt this interrupt is based on the comparison of angular rate data against a high - rate threshold for the detection of sh ock or other high - angular rate events. the principle is made clear in figure 1 8 below: figure 1 8 : high rate interrupt the high - rate interrupt is enabled (disabled) per axis by writing 1 (0) to bits (gyr 0x22) high_en_x , (gyr 0x24) high_en_y , and (gyr 0x26) high_en_z , respectively. the high - rate threshold is set through the (gyr 0x22) high_th_ x register, (gyr 0x24) high_th_y register and (gyr 0x26) high_th_z for the corresponding axes. the meaning of an lsb of (gyr 0x22/24/26) high_th_x/y/z depends on the selected /s - range: it corresponds to 62.5/s in 2000/s - range, 31.25/s in 1000/s - range, 15.625/s in 500/s - range ). the high_th_x/y/z register setting 0 corresponds to 62.26/s in 2000/s - range, 31.13/s in 1000/s - range, 15.56/s in 500/s - r ange . therefore the maximum value is 1999.76/s in 2000/s - range (999.87/s 1000/s - range, 499.93/s in 500/s - range ). a hysteresis can be selected by setting the (gyr 0x22/24/26) high_hy_x/y/z bits. analogously to (gyr 0x22/24/26) high_th_x/y/z , t he meaning of an lsb of (gyr 0x22/24/26) high_hy_x/y/z bits is /s - range dependent: the high_hy_x/y/z register setting 0 corresponds to an angular rate difference of 62.26/s in 2000/s - range, 31.13/s in 1000/s - range, 15.56/s in 500/s - range . the mean ing of an lsb of (gyr 0x22/24/26) high_hy_x/y/z depends on the selected /s - range too: it corresponds to 62.5/s in 2000/s - range, 31.25/s in 1000/s - range, 15.625/s in 500/s - range ). the high - rate interrupt is generated if the absolute value of the angular rate of at least one of the enabled axes (or relation) is higher than the threshold for at least the time defined by the
BMI055 d ata sheet page 91 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. (gyr 0x23/25/27) high_dur_x/y/z register. the interrupt is reset if the absolute value of the angular rate of all enabled axe s (and relation) is lower than the threshold minus the hysteresis. in bit (gyr 0x09) high_int the interrupt status is stored. the relation between the content of (gyr 0x23/25/27) high_dur_x/y/z and the actual delay of the interrupt generation is delay [m s] = [(gyr 0x23/25727) high_dur_x/y/z + 1] * 2.5 ms. therefore, possible delay times range from 2.5 ms to 640 ms. 7.7.6.1 axis and sign information of high - rate interrupt the axis which triggered the interrupt is indicated by bits (gyr 0x0c) high_first_x , (gyr 0x0c) high_first_y , and (gyr 0x0c) high_first_z . the bit corresponding to the triggering axis contains a 1 while the other bits hold a 0. these bits are cleared together with clearing the interrupt status. the sign of the triggering angular rate is stored in bit ( gyr 0x0c) high_sign . if (gyr 0x0c) high_sign = 1 (0), the sign is positive (negative).
BMI055 d ata sheet page 92 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 8. register description gyroscope 8.1 general remarks the entire communication with the device is performed by reading from and writing to registers. registers have a width of 8 bits; they are mapped to a common space of 64 addresses from (gyr 0x00) up to (gyr 0x3f) . within the used range there are several re gisters 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. fu rthermore it is recommended to mask out (logical and with zero) reserved bits of registers which are partially marked as reserved. registers with addresses from (gyr 0x00) up to (gyr 0x0e) are read - only. any attempt to write to these registers is ignored. there are bits within some registers that trigger internal sequences. these bits are configured for write - only access, e. g. (gyr 0x21) reset_int or the entire (gyr 0x14) softreset register, and read as value 0.
BMI055 d ata sheet page 93 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 8.2 register map gyroscope figure 1 9 : register map gyroscope 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. register address bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 access reset value 0x3f fifo_data[7] fifo_data[6] fifo_data[5] fifo_data[4] fifo_data[3] fifo_data[2] fifo_data[1] fifo_data[0] ro 0x00 0x3e mode[1] mode[0] data_select[1] data_select[0] w/r 0x00 0x3d tag h2o_mrk_lvl_trig_ret[6] h2o_mrk_lvl_trig_ret[5] h2o_mrk_lvl_trig_ret[4] h2o_mrk_lvl_trig_ret[3] h2o_mrk_lvl_trig_ret[2] h2o_mrk_lvl_trig_ret[1] h2o_mrk_lvl_trig_ret[0] w/r 0x00 0x3c rate_ok bist_fail bist_rdy trig_bist ro n/a 0x3b gp0[11] gp0[10] gp0[9] gp0[8] gp0[7] gp0[6] gp0[5] gp0[4] w/r n/a 0x3a gp0[3] gp0[2] gp0[1] gp0[0] offset_x[1] offset_x[0] offset_y[0] offset_z[0] w/r n/a 0x39 offset_z[11] offset_z[10] offset_z[9] offset_z[8] offset_z[7] offset_z[6] offset_z[5] offset_z[4] w/r n/a 0x38 offset_y[11] offset_y[10] offset_y[9] offset_y[8] offset_y[7] offset_y[6] offset_y[5] offset_y[4] w/r n/a 0x37 offset_x[11] offset_x[10] offset_x[9] offset_x[8] offset_x[7] offset_x[6] offset_x[5] offset_x[4] w/r n/a 0x36 offset_x[3] offset_x[2] offset_y[3] offset_y[2] offset_y[1] offset_z[3] offset_z[2] offset_z[1] w/r n/a 0x35 w/r 0x00 0x34 ext_fifo_sc_en ext_fifo_s_sel burst_same_en i2c_wdt_en i2c_wdt_sel spi3 w/r 0x00 0x33 nvm_remain[3] nvm_remain[2] nvm_remain[1] nvm_remain[0] nvm_load nvm_rdy nvm_prog_trig nvm_prog_mode w/r 0x00 0x32 auto_offset_wordlength[1] auto_offset_wordlength[0] fast_offset_wordlength[1] fast_offset_wordlength[0] fast_offset_en fast_offset_en_z fast_offset_en_y fast_offset_en_x w/r 0xc0 0x31 slow_offset_th[1] slow_offset_th[0] slow_offset_dur[2] slow_offset_dur[1] slow_offset_dur[0] slow_offset_en_z slow_offset_en_y slow_offset_en_x w/r 0x60 0x30 w/r 0xe8 0x2f w/r 0xe0 0x2e w/r 0x81 0x2d w/r 0x40 0x2c w/r 0x42 0x2b w/r 0x22 0x2a w/r 0xe8 0x29 w/r 0x19 0x28 w/r 0x24 0x27 high_dur_z[7] high_dur_z[6] high_dur_z[5] high_dur_z[4] high_dur_z[3] high_dur_z[2] high_dur_z[1] high_dur_z[0] w/r 0x19 0x26 high_hy_z[1] high_hy_z[0] high_th_z[4] high_th_z[3] high_th_z[2] high_th_z[1] high_th_z[0] high_en_z w/r 0x02 0x25 high_dur_y[7] high_dur_y[6] high_dur_y[5] high_dur_y[4] high_dur_y[3] high_dur_y[2] high_dur_y[1] high_dur_y[0] w/r 0x19 0x24 high_hy_y[1] high_hy_y[0] high_th_y[4] high_th_y[3] high_th_y[2] high_th_y[1] high_th_y[0] high_en_y w/r 0x02 0x23 high_dur_x[7] high_dur_x[6] high_dur_x[5] high_dur_x[4] high_dur_x[3] high_dur_x[2] high_dur_x[1] high_dur_x[0] w/r 0x19 0x22 high_hy_x[1] high_hy_x[0] high_th_x[4] high_th_x[3] high_th_x[2] high_th_x[1] high_th_x[0] high_en_x w/r 0x02 0x21 reset_int offset_reset latch_status_bits latch_int[3] latch_int[2] latch_int[1] latch_int[0] w/r 0x00 0x20 w/r 0x00 0x1f w/r 0x28 0x1e fifo_wm_en w/r 0x08 0x1d w/r 0xc9 0x1c awake_dur[1] awake_dur[0] any_dursample[1] any_dursample[0] any_en_z any_en_y any_en_x w/r 0xa0 0x1b fast_offset_unfilt any_th[6] any_th[5] any_th[4] any_th[3] any_th[2] any_th[1] any_th[0] w/r 0x04 0x1a slow_offset_unfilt high_unfilt_data any_unfilt_data w/r 0x00 0x19 int2_high int2_any wo 0x00 0x18 int2_data int2_fast_offset int2_fifo int2_auto_offset int1_auto_offset int1_fifo int1_fast_offset int1_data w/r 0x00 0x17 int1_high int1_any w/r 0x00 0x16 int2_od int2_lvl int1_od int1_lvl w/r 0x0f 0x15 data_en fifo_en auto_offset_en w/r 0x00 0x14 softreset[7] softreset[6] softreset[5] softreset[4] softreset[3] softreset[2] softreset[1] softreset[0] wo 0x00 0x13 data_high_bw shadow_dis wo 0x00 0x12 fast_powerup power_save_mode ext_trig_sel[1] ext_trig_sel[0] autosleep_dur[2] autosleep_dur[1] autosleep_dur[0] w/r 0x00 0x11 suspend deep_suspend sleep_dur[2] sleep_dur[1] sleep_dur[0] w/r 0x00 0x10 bw[3] bw[2] bw[1] bw[0] w/r 0x80 0x0f range[2] range[1] range[0] w/r 0x00 0x0e overrun frame_counter[6] frame_counter[5] frame_counter[4] frame_counter[3] frame_counter[2] frame_counter[1] frame_counter[0] ro 0x00 0x0d ro 0x00 0x0c high_sign high_first_z high_first_y high_first_x ro 0x00 0x0b any_sign any_first_z any_first_y any_first_x ro 0x00 0x0a data_int auto_offset_int fast_ofsset_int fifo_int ro 0x00 0x09 any_int high_int ro 0x00 0x08 ro 0x00 0x07 rate_z[15] rate_z[14] rate_z[13] rate_z[12] rate_z[11] rate_z[10] rate_z[9] rate_z[8] ro 0x00 0x06 rate_z[7] rate_z[6] rate_z[5] rate_z[4] rate_z[3] rate_z[2] rate_z[1] rate_z[0] ro 0x00 0x05 rate_y[15] rate_y[14] rate_y[13] rate_y[12] rate_y[11] rate_y[10] rate_y[9] rate_y[8] ro 0x00 0x04 rate_y[7] rate_y[6] rate_y[5] rate_y[4] rate_y[3] rate_y[2] rate_y[1] rate_y[0] ro 0x00 0x03 rate_x[15] rate_x[14] rate_x[13] rate_x[12] rate_x[11] rate_x[10] rate_x[9] rate_x[8] ro 0x00 0x02 rate_x[7] rate_x[6] rate_x[5] rate_x[4] rate_x[3] rate_x[2] rate_x[1] rate_x[0] ro 0x00 0x01 ro 0x00 0x00 chip_id[7] chip_id[6] chip_id[5] chip_id[4] chip_id[3] chip_id[2] chip_id[1] chip_id[0] ro 0x0f w/r write only read only res. future use
BMI055 d ata sheet page 94 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x00 (chip_id) the register contains the chip identification code. name 0x00 chip_id 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 b00001111 =0x0f gyr register 0x01 is reserved gyr register 0x02 (rate_x_lsb) the register contains the least - significant bits of the x - channel angular rate readout value. when reading out x - channel angular rate values, data consistency is guaranteed if the rate_x_lsb is read out before the rate_x_msb and shadow_dis=0. in this case, after the rate_x_lsb has been read, the value in the rate_x_msb register is locked until the rat e_x_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. angular rate data may be read from register rate_x_lsb at any time except during power - up and in deep_suspend mode. name 0x02 rate_x_lsb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content rate_x_lsb<7:4> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content rate_x_lsb<3:0> rate_x_lsb<7:0>: least significant 8 bits of rate read - back value; (twos - complement format)
BMI055 d ata sheet page 95 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x03 (rate_x_msb) the register contains the most - significant bits of the x - channel angular rate readout value. when reading out x - channel angular rate values, data consistency is guaranteed if the rate_x_lsb is read out before the rate _x_msb and shadow_dis=0. in this case, after the rate_x_lsb has been read, the value in the rate_x_msb register is locked until the rate_x_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. angular rate da ta may be read from register rate_x_msb at any time except during power - up and in deep_suspend mode. name 0x03 rate_x_msb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content rate_x_msb<15:12> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content rate_x_msb<11:8> rate _x_msb<15:8>: most significant 8 bits of rate read - back value (twos - complement format) gyr register 0x0 4 (rate_ y _lsb) the register contains the least - significant bits of the y - channel angular rate readout value. when reading out y - channel angular rate values, data consistency is guaranteed if the rate_y_lsb is read out before the rate_y_msb and shadow_dis=0. in this case, after the rate_y_lsb has been read, the value in the rate_y_msb register is locked until the rate_y_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. angular rate data may be read from register rate_y_lsb at any time except during power - up and in deep_suspend mode. name 0x04 rate _y_lsb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content rate_ y _lsb<7:4> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content rate_ y _lsb<3:0> rate_ y _lsb<7:0>: least significant 8 bits of rate read - back value; (twos - complement format)
BMI055 d ata sheet page 96 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x05 (rate_y_msb) the register contains the most - significant bits of the y - channel angular rate readout value. when reading out y - channel angular rate values, data consistency is guaranteed if the rate_y_lsb is read o ut before the rate_y_msb and shadow_dis=0. in this case, after the rate_y_lsb has been read, the value in the rate_y_msb register is locked until the rate_y_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performe d. angular rate data may be read from register rate_y_msb at any time except during power - up and in deep_suspend mode. name 0x05 rate_y_msb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content rate_ y _msb<15:12> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content rate_ y _msb<11:8> rate _ y _msb<15:8>: most significant 8 bits of rate read - back value (twos - complement format) gyr register 0x0 6 (rate_ z _lsb) the register contains the least - significant bits of the z - channel angular rate readout value. when reading out z - channel angular rate values, data consistency is guaranteed if the rate_z_lsb is read out before the rate_z_msb and shadow_dis=0. in this case, after the rate_z_lsb has been read, the value in the r ate_z_msb register is locked until the rate_z_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. angular rate data may be read from register rate_ z _lsb at any time except during power - up and in deep_suspen d mode. name 0x06 rate_z_lsb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content rate_ z _lsb<7:4> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content rate_ z _lsb<3:0> rate_ z _lsb<7:0>: least significant 8 bits of rate read - back value; (twos - complement format)
BMI055 d ata sheet page 97 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x0 7 (rate_ z _msb) the register contains the most - significant bits of the z - channel angular rate readout value. when reading out z - channel angular rate values, data consistency is guaranteed if the rate_z_lsb is read out before the rate_z_msb and shadow_dis=0. in this case, after the rate_z_lsb has been read, the value in the rate_z_msb register is locked until the rate_z_msb has been read. this condition is inherently fulfilled if a burst - mode read access is performed. angular rate data may be read from register rate_z_msb at any time except during power - up and in deep_suspend mode. name 0x07 rate_z_msb bit 7 6 5 4 read/write r r r r reset value n/a n/a n/a n/a content rate_ z _msb<15:12> bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content rate_ z _msb<11:8> rate _ z _msb<15:8>: most significant 8 bits of rate read - back value (twos - complement format) gyr register 0x08 reserved gyr register 0x09 (int_status_0) the register contains interrupt status bits. 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 reserved bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content reserved any_int high_ i nt reserved any_int: a ny motion interrupt status
BMI055 d ata sheet page 98 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. high_int: h igh rate interrupt status gyr register 0x0a (int_status_1) the register contains interrupt status bits. 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 auto_offset_int fast_offset_int fifo_int 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: new data interrupt status auto_offset_int: auto offset interrupt status fast_offset_int: fast offset interrupt status fifo_int: fifo interrupt status gyr register 0x0 b (int_status_ 2 ) the register contains any motion interrupt status bits, 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 reserved bit 3 2 1 0 read/write r r r r reset value n/a n/a n/a n/a content any_sign any_first_z any_first_y any_first_ x any_sign : sign of any motion interrupt (1= positive, 0=negative) any_first_z : 1 indicates that z - axis is triggering axis of any motion interrupt any_first_y : 1 indicates that y - axis is triggering axis of any motion interrupt any_first_x : 1 indicates that z - axis is triggering axis of any motion interrupt
BMI055 d ata sheet page 99 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x0c (int_status_3) the register contains high rate interrupt status bits . 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 reserved 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 high_sign: sign of high rate interrupt (1= positive, 0=negative) high_first_z: 1 indicates that z - axis is triggering axis of high rate interrupt high_first_y: 1 indicates that y - axis is triggering axis of high rate interrupt high_first_x: 1 indicates that z - axis is trigg ering axis of high rate interrupt gyr register 0x0d is reserved gyr register 0x0e (fifo_status) the register contains fifo 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> 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 counter can be cleared by reading out all frames from the fifo buffer or writing to the fifo configurat ion register fifo_config_1.
BMI055 d ata sheet page 100 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x0f (range) the gyroscope supports four different angular rate measurement ranges. a measurement range is selected by setting the (0x0f) range bits as follows: name 0x0f 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 0 0 content reserved range<2:0> range<2:0 >: angular rate range and resolution. range<2:0> full scale resolution 000 ? 001 ? 010 ? 011 ? 100 ? 101, 110, 111 write 0 gyr register 0x10 (bw) the register allows the selection of the rate data filter bandwidth. name 0x10 bw bit 7 6 5 4 read/write r r/w r/w r/w reset value 1 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 0 0 content bw<3:0>
BMI055 d ata sheet page 101 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bw<3:0>: 0x10 bits<3:0> decimation factor odr filter bandwidth write 0 gyr register 0x11 ( lpm1 ) selection of the main power modes. name 0x11 lpm1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content suspend reserved deep_suspend reserved 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] sleep_dur[1] sleep_dur[0] reserved suspend, deep_suspend: main power mode configuration setting {suspend ; deep_suspend}: {0; 0} ? normal mode; {0; 1} ? deep_suspend mode; {1; 0} ? suspend mode; {all other} ? illegal please note that only certain power mode transitions are permitted.
BMI055 d ata sheet page 102 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. please note, that all application specific settings which are not equal to the default settings ( refer to 8 .2 register map gyroscope ), must be re - set to its designated values after deep_suspend. sleep_dur < 2 : 0 > : time in ms in fast - power - up mode under advanced power - saving mode. sleep_dur < 2:0 > time (ms) 000 001 010 011 100 101 110 111 write 0 gyr register 0x12 (lpm2) configuration settings for fast power - up and external trigger. name 0x12 lpm2 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content fast_powerup power_save_mode ext_trig_sel[1] ext_trig_sel[0] bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved autosleep_dur[2] autosleep_dur[1] autosleep_dur[0] fast powerup : 1 ? drive stays active for suspend mode in order to have a short wake - up time.. 0 ? drive is switched off for suspend mode ext_trig_sel <1:0> : ext_trig_sel < 1 : 0 > trigger source 00 01 10 11
BMI055 d ata sheet page 103 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. a utosleep <2 : 0> : time in ms in normal mode under advanced power - saving mode. autosleep_dur < 2:0 > time (ms) 000 001 010 011 100 101 110 111 write 0 gyr register 0x13 (rate_hbw) angular rate data acquisition and data output format. name 0x13 rate_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 w h ether 1 ? unfiltered, or 0 ? filtered data may be read from the rate data registers. shadow_dis: 1 ? disable, or 0 ? the shadowing mechanism for the rate data output registers. when shadowing is enabled, the content of the rate data component in the msb register is locked, when the component in the lsb is read, thereby ensuring the integrity of the rate data during read - out. the lock is removed when the ms b is read. reserved: write 0
BMI055 d ata sheet page 104 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr 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 ? trigger a reset. other values are ignored. following a delay, all user configuration settings are overwritten with their default state or the setting stored in the nvm, wherever applicable. this register is functional in all operation modes. please note, that all application specific settings which are not equal to the default settings (refer to 8 .2 register map gyroscope ), must be re - set to its designated values. gyr register 0x15 (int_en_0) controls which interrupts are enabled. name 0x15 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 data_en fifo_en reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved auto_offset_en reserved data_en: 1 (0) enables (disables) new data interrupt fifo_en : 1 (0) enables (disables) fifo interrupt auto_offset_en : 1 (0) enables (disables) auto - offset compensation reserved: write 0
BMI055 d ata sheet page 105 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x16 (int_en_1) contains interrupt pin configurations. name 0x16 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 bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 1 1 1 content int2_od int2_lvl int1_od int1_lvl int2_od : 0 (1) selects push - pull, 1 selects open drive for int 4 int2_lvl : 0 (1) selects active level 0 (1) for int4 int1_od : 0 (1) selects push - pull, 1 selects open drive for int 3 int1_lvl : 0 (1) selects active level 0 (1) for int3 reserved: write 0 gyr register 0x17 (int _ map _0 ) controls which interrupt signals are mapped to the int 3 pin. name 0x17 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 reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int1_high reserved int1_any reserved int1_high: map high rate interrupt to int3 pin: 0 ? disabled, or 1 ? enabled int1_any : map any - motion to int 3 pin : 0 ? disabled, or 1 ? enabled reserved: write 0
BMI055 d ata sheet page 106 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x18 (int _ map _1 ) controls which interrup t signals are mapped to the int3 pin and int 4 pin. name 0x1b 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_fast_offset int2_fifo int2_auto_offset bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int1_auto_offset int1_fifo int1_fast_offset int1_data int2_data: map new data interrupt to int 4 pin: 0 ? disabled, or 1 ? enabled int2_fast_offset: map fastoffset interrupt to int 4 pin: 0 ? disabled, or 1 ? enabled int2_fifo: map fifo in terrupt to int4 pin: 0 ? disabled, or 1 ? enabled int2_auto_offset: map autooffset tap interrupt to int4 pin: 0 ? disabled, or 1 ? enabled int1_auto_offset: map autooffset tap interrupt to int3 pin: 0 ? disabled, or 1 ? enabled int1_fifo: map fifo inter rupt to int3 pin: 0 ? disabled, or 1 ? enabled int1_fast_offset: map fastoffset interrupt to int 3 pin: 0 ? disabled, or 1 ? enabled int1_data: map new data interrupt to int3 pin: 0 ? disabled, or 1 ? enabled gyr register 0x19 (int_map_2) controls which interrupt signals are mapped to the int 4 pin . name 0x19 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 reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content int2_high reserved int2_any reserved int2_high: map high rate interrupt to int 4 pin: 0 ? disabled, or 1 ? enabled int2_any : map any - motion to int 4 pin : 0 ? disabled, or 1 ? enabled reserved: write 0
BMI055 d ata sheet page 107 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x1a contains the data source definition of those interrupts with selectable data source. name 0x1a bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved slow_offset_unfilt reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content high_unfilt_data reserved any_unfilt_data reserved slow_offset_unfilt: 1 (0) seletects unfiltered (filtered) data for slow offset compensation high_unfilt_data: 1 (0) seletects unfiltered (filtered) data for high rate interrupt any_unfilt_data: 1 (0) seletects unfiltered (filtered) data for any motion interrupt reserved: write 0 gyr register 0x1b contains the data source definition of fast offset compensation and the any motion threshold. name 0x1b bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content fast_offset_unfilt any_th <6:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 1 0 0 content any_th <3:0> fast_offset_unfilt: 1 (0) selects unfiltered (filtered) data for fast offset compensation any_th: any_th = (1 + any_th(register value)) * 16 lsb the any_th scales with the range setting
BMI055 d ata sheet page 108 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x1c name 0x1c bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 1 0 1 0 content awake_dur < 1 :0> any_dursample < 1 :0> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved any_en_z any_en_y any_en_x awake_dur: 0= 8 samples, 1= 16 samples, 2= 32 samples, 3= 64 samples any_dursample: 0= 4 samples, 1= 8 samples, 2= 12 samples, 3= 16 samples any_en_z: 1 (0) enables (disables) any motion interrupt for z - axis any_en_y : 1 (0) enables (disables) any motion interrupt for y - axis any_en_x : 1 (0) enables (disables) any motion interrupt for z - axis if one of the bits any_x/y/z is enabled, the any motion interrupt is enabled res erved: write 0 gyr register 0x1d is reserved. gyr register 0x1e name 0x1e bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 1 0 0 0 content fifo_wm_en reserved bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 0 content reserved fifo_wm_en: 1 (0) enables (disables) fifo water mark level interrupt reserved: write 0
BMI055 d ata sheet page 109 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x1f and 0x20 are reserved gyr 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 offset_reset reserved latch_status_bit 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> reset_int: write 1 ? clear any latched interrupts, or 0 ? keep latched interrupts active write 1 ? resets internal interrupt status of each interrupt offset_reset: write 1 ? resets the offset value calculated with fastoffset, slowoffset & autooff set 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 reserved: write 0 gyr register 0x22 (high_t h_x) contains the high rate threshold and high rate hysteresis setting for the x - axis name 0x22 high_th_x bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content high_hy_x <1:0> high_th_x <4:3>
BMI055 d ata sheet page 110 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 1 0 content high_th_x <2:0> high_en_x high_hy_x : high_hy_x = (255 + 256 * high_h y _x (register value) ) *4 lsb the high_hy_x scales with the range setting high_th_x high_th_x = (255 + 256 * high_th_x (register value) ) *4 lsb the high_th_x scales with the range setting high_en_x 1 (0) enables (disables) high rate interrupt for x - axis gyr register 0x23 (high_ d ur_x) contains high rate duration setting for the x - axis. name 0x23 high_dur_x bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content high_dur_x <7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 1 content high_dur_x <3:0> high_dur_x : high_dur time_x = (1 + high_dur_x (register value) )*2.5ms gyr register 0x24 (high_th_y) contains the high rate threshold and high rate hysteresis setting for the y - axis . name 0x24 high_th_y bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content high_hy_y <1:0> high_th_y <4:3>
BMI055 d ata sheet page 111 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 1 0 content high_th_y <2:0> high_en_y high_hy_y : high_hy_y = (255 + 256 * high_hy_y (register value) ) *4 lsb the high_hy_y scales with the range setting high_th_y high_th_x = (255 + 256 * high_th_y (register value) ) *4 lsb the high_th_y scales with the range setting high_en_y 1 (0) enables (disables) high rate interrupt for y - axis gyr register 0x2 5 (high_ d ur_ y ) contains high rate duration setting for the x - axis. name 0x25 high_dur_y bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content high_dur_y <7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 1 content high_dur_y <3:0> high_dur_ y : high_dur time_y = (1 + high_dur_ y (register value) )*2.5ms gyr register 0x2 6 (high_th_ z ) contains the high rate threshold and high rate hysteresis setting for the z - axis . name 0x26 high_th_z bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content high_hy_ z <1:0> high_th_ z <4:3>
BMI055 d ata sheet page 112 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 1 0 content high_th_ z <2:0> high_en_ z high_hy_ z : high_hy_ z = (255 + 256 * high_hx_ z(register value) ) *4 lsb the high_hy_x scales with the range setting high_th_ z high_th_ z = (255 + 256 * high_th_ z(register value) ) *4 lsb the high_th_ z scales with the range setting high_en_ z 1 (0) enables (disables) high rate interrupt for z - axis gyr register 0x27 (high_ d ur_z) contains high rate duration setting for the z - axis. name 0x27 high_dur_z bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 1 content high_dur_z <7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 1 0 0 1 content high_dur_z <3:0> high_dur_z : high_dur time_z = (1 + high_dur_z (register value) )*2.5ms gyr register 0x 28 to 0x 30 are reserved gyr register 0x31 (soc) contains the slow offset cancellation setting. name 0x31 soc bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 1 1 0 content slow_offset_th<1:0> slow_offset_dur<2:1>
BMI055 d ata sheet page 113 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content slow_offset_dur <0> slow_offset_en_z slow_offset_en_y slow_offset_en_x slow_offset_th: 0=0.1/s, 1=0.2/s, 2=0.5/s, 3=1/s slow_offset_dur: 0=40ms, 1=80ms, 2=160ms, 3=320ms, 4=640ms, 5=1280ms, 6 and 7=unused slow_offset_en_z: 1 (0) enables (disables ) slow offset compensation for z - axis slow_offset_en_y: 1 (0) enables (disables ) slow offset compensation for y - axis slow_offset_en_x: 1 (0) enables (disables ) slow offset compensation for x - axis gyr register 0x32 (a_foc) contains the fast offset cancellation setting. name 0x32 a_foc bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 1 1 0 0 content auto_offset_wordlength<1:0> fast_offset_wordlength<1:0> bit 3 2 1 0 read/write r r/w r/w r/w reset value 0 0 0 0 content fast_offset_en fast_offset_en_z fast_offset_en_y fast_offset_en_x auto_offset_wordlength : 0=32 samples, 1=64 samples, 2=128 samples, 3=256 samples fast_offset_wordlength : 0=32 samples, 1=64 samples, 2=128 samples, 3=256 samples fast_offset_en: write 1 ? triggers the fast offset compensation for the enabled axes fast_offset_en _z: 1 (0) enables (disables ) fast offset compensation for z - axis fast _offset_en_y: 1 (0) enables (disables) fast offset compensation for y - axis fast _offset_en_x: 1 (0) enables (disables ) fast offset compensation for x - axis
BMI055 d ata sheet page 114 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr 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 controlle r: 0 ? nvm write / nvm update operation is in progress, 1 ? nvm is ready to accept a new write or update trigger nvm_prog_trig: 1 ? trigger, or 0 ? do not trigger an nvm write operation; the trigger is only accepted if the nvm was unlocked before and nvm_remain<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 gyr register 0x34 (bgw_spi3_wd t) 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 ext_fifo_s _ en ext_fifo_s_sel 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
BMI055 d ata sheet page 115 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. ext_fifo_s_en: enables external fifo sync hronization mode, 1 ? enable, 0 ? disable ext_fifo_s_sel: selects source for external fifo sync hronization 1 ? source = int4 0 ? source = int3 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 sp i mode gyr register 0x35 is reserved gyr register 0x36 (ofc1) contains offset compensation values. name 0x36 ofc1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_x<3:2> offset_y<3:2> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_y <1> o ffset _z <3:1> offset_x< 3 : 2 > : setting of offset calibration values x - channel offset_y< 3:1 > : setting of offset calibration values y - channel offset_z< 3:1 > : setting of offset calibration values z - channel gyr register 0x3 7 ( ofc 2 ) contains offset compensation values for x - channel. name 0x37 ofc2 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_x<11:8>
BMI055 d ata sheet page 116 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_x <7:4> offset_ x <11: 4 > : offset value, which is subtracted from the internal filtered and unfiltered x - axis data; please refer to the following table for the scaling of the offset register; the content of the offset_x<11:4 > may be written to the nvm; it is automatically restored from the nvm after each power - on or softreset; offset_x<11: 4 > may be written directly by the user. example: original readout value value in offset register compensated readout value 0 ? /s 2047 - 124.94 ? /s 0 ? /s 0 0 g 0 ? /s - 2048 125 ? /s gyr register 0x3 8 ( ofc 3 ) contains offset compensation values for y - channel. name 0x38 ofc3 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_y<11:8> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_y<7:4> offset_ y <11: 4 > : offset value, which is subtracted from the internal filtered and unfiltered y - axis data; please refer to the above (see ofc2) table for the scaling of the offset register; the content of the offset_y<11:4 > may be written to the nvm; it is automatically restored from the nvm after each power - on or softreset; offset_ y <11: 4 > may be written directly by the user. for reference see example at gyr register 0x3 8 (ofc2)
BMI055 d ata sheet page 117 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x3 9 ( ofc 4 ) contains offset compensation values for z - channel. name 0x39 ofc4 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_z<11:8> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value 0 0 0 0 content offset_z<7:4> offset_ z <11: 4 > : offset value, which is subtracted from the internal filtered and unfiltered z - axis data; please refer to the above table (see ofc2) for the scaling of the offset register; the content of the offset_z<11:4 > may be written to the nvm; it is automatically res tored from the nvm after each power - on or softreset; offset_ z <11: 4 > may be written directly by the user. for reference see example at gyr register 0x3 8 (ofc2) gyr register 0x3a (trim_gp0) contains general purpose data register with nvm back - up. name 0x 3a trim_gp0 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value x x x x content gp0< 3 : 0 > bit 3 2 1 0 read/write r/w r/w r/w r/w reset value x x x x content offset_x<1:0> offset_y<0> offset_z<0> gp0< 3 :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 software reset offset_x<1:0> : setting of offset calibration values x - channel offset_y<0> : setting of offset calibration values y - channel offs et_z<0> setting of offset calibration values z - channel
BMI055 d ata sheet page 118 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr register 0x3b (trim_gp1) contains general purpose data register with nvm back - up. name 0x3b trim_gp1 bit 7 6 5 4 read/write r/w r/w r/w r/w reset value x x x x content gp1<7:4> bit 3 2 1 0 read/write r/w r/w r/w r/w reset value x x x x 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 software reset gyr register 0x3c (bist) contains built in self - test (bist) possibilities: name 0x3c bist bit 7 6 5 4 read/write r/w r/w r/w r/w reset value 0 0 0 0 content reserved reserved reserved rate_ok bit 3 2 1 0 read/write r/w r/w r/w r reset value 0 0 0 0 content reserved bist_fail bist_rdy trig_bist rate ok: 1 indicates proper sensor function, no trigger is needed for this trig_bist: write 1 in order to perform the bist test bist_rdy: if bist_rdy is `1` and bist_fail is 0 result of bi st test is ok means sensor ok if bist_rdy is `1` and bist_fail is 1 result of bist test is not ok means sensor values not in expected range
BMI055 d ata sheet page 119 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. gyr r egister 0x3d (fifo_config_0) contains the fifo watermark level. name 0x3d 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 tag fifo_water_mark_level_trigger_retain<6:4> 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> tag: 1 (0) enables (disables ) fifo tag (interrupt) address: 0x3d bit 7 tag interrupt data stored in fifo 0 ( default) do not collect interrupts 1 collect interrupts fifo_water_mark_level_trigger_retain<6:0>: fifo_water_mark_level_trigger_retain<6:0> 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<6:0>; gyr 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>
BMI055 d ata sheet page 120 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 100 frames), 10b ? stream (sampling continues when buffer is full; old is discarded), 11b ? reserved, do not use fifo_data_select< 1:0>: address: 0x3e bits<1:0> data_select data of axis stored in fifo 00 (default) 01 10 11 write 0 gyr register 0x3f (fifo_data) fifo data readout register. the f ormat of the lsb and msb components corresponds to that of the angular rate data readout registers. read burst access may be used since the address counter will not increment when the read burst is started at the address of fifo_data. the entire frame is discarded when a f r ame 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 - m sb(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
BMI055 d ata sheet page 121 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 9. digital interface of the device the BMI055 supports two serial digital i nterface protocols for communication as a slave with a host device: spi (4 - wire and 3 - wire) and i2c. the active interface is sel ected by the state of the pin#07 (ps) protocol select pin: gnd ( vddio ) selects spi (i2c). for details please refer to sect ion 11. by default, spi operates in the standard 4 - wire configuration. it can be re - configured by software to work in 3 - wire mode instead of standard 4 - wire mode. both digital interfaces share partly the same pins . additionally each inertial sensor (accelerometer and gyroscope) provides specific interface pins which allow the user to operate the inertial sensors independently of each other. the mapping for each interface and each inertial sensor is given in the following table: table 2 8 : mapping of the interface pins pin# name use w/ spi use w/ i2c description 1 5 sdo 1 sdo 1 address spi: accel data output (4 - wire mode) i2c: used to set lsb of accel i2c address 10 sdo 2 sdo 2 address spi: gyro data output (4 - wire mode) i2c: used to set lsb of gyro i2c address 9 sdx sdi sda spi: data in (4 - wire mode) & data in / out (3 - wire mode) i2c: serial data 14 csb 1 csb 1 unused spi: accel chip select (enable) 5 csb 2 csb 2 unused spi: gyro chip select (enable) 8 scx sck scl spi: serial clock sck i2c: serial clock scl the following table shows the electrical specifications of the interface pins: table 29 : electrical specification of the interface pins parameter symbol condition min typ max units pull - up resistance, csb pin r up internal pull - up resistance to vddio 75 100 125 k ? in 5 10 pf i2c bus load capacitance (max. drive capability) c i2c_load 400 pf
BMI055 d ata sheet page 122 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 9.1 serial peripheral interface (spi) the timing specification for spi of the BMI055 is given in the following table: table 3 0 : spi timing parameter symbol condition min max units clock frequency f spi max. load on sdi or sdo = 25pf, v ddio ddio < 1.62v 7.5 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, v ddio 1.62v ddio < 1.62v 50 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 idle time between write accesses, normal mode, standby mode, low - power mode 2 t idle_wacc_nm 2 s idle time between write accesses, suspend mode, low - power mode 1 t idle_wacc_sum 450 s
BMI055 d ata sheet page 123 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the following figure shows the definition of the spi timings : figure 20 : spi timing diagram the spi interface of the BMI055 is compatible with two modes, 00 and 11. the automatic selection between [cpol = 0 and cpha = 0] and [cpol = 1 and cpha = 1] is controlled based on the value of sck after a falling edge of csb ( 1 or 2 ) . two configurations of the spi interface are supported by the BMI055 : 4 - wire and 3 - wire. the same protocol is used by both configurations. the device operates in 4 - wire configuration by default. it can be switched to 3 - wire configuration by writing 1 to ( acc 0x34) spi3 and to ( gyr 0x34) spi3 . pin sdi is used as the common data pin in 3 - wire configuration. for single byte read as well as write operations, 16 - bit protocols are used. the BMI055 also supports multiple - byte read operations. in spi 4 - wire configuration csb ( 1 or 2 - chip select low active), sck (serial clock), sdi (serial data input), and sdo ( 1 or 2 - serial data output) pins are used. the communication starts when the csb (1 or 2 ) is pulled low by the spi master and stops when csb (1 or 2 ) is pulled high. sck is also controlled by spi master. sdi and sdo (1 or 2 ) are driven at the falling edge of sck and should be capt ured at the rising edge of sck. 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
BMI055 d ata sheet page 124 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the basic write operation wave form for 4 - wire configuration is depicted in figure 2 1 . during the entire write cycle sdo remains in high - impedance state. figure 2 1 : 4 - wire basic spi write sequence (mode 11) the basic read operation waveform for 4 - wire confi guration is depicted in figure 2 2 : figure 2 2 : 4 - wire basic spi read sequence (mode 11) 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 csb sck sdi r/w ad6 ad 5 ad 4 ad 3 ad 2 ad1 ad0 sdo do5 do4 do3 do2 do1 do0 do7 do6 tri - state
BMI055 d ata sheet page 125 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. t he data bits are used as follows: bit0: read/write bit. when 0, the data sdi is written into the chip. when 1, the data sdo from the chip is read. bit1 - 7: address ad(6:0). bit8 - 15: when in write mode, these are the data sdi, which will be written into the address. when in read mode, these are the data sdo, which are read from the address. multiple read operations are possible by keeping csb low and continuing the data transfer. only the first register address has to be written. addresses are automatically incremented after each read access as long as csb stays active low. the principle of multiple read is shown in figure 2 3 : figure 2 3 : spi multiple read in spi 3 - wire configuration csb ( 1 or 2 - chip select low active), sck (serial clock), and sdi (serial data input and output) pins are used. the communication starts when the csb is pulled low by the spi master and stops when csb is pulled high. sck is also controlled by spi master. sdi is driven (when used as input of the device) at the falling edge of sck and should be captured (when used as the output of the device) at the rising edge of sck. the protocol as such is the same in 3 - wire configuration as it is in 4 - wire configuration. the basic operation wave - form (read or write access) for 3 - wire configuration is depicted in figure 2 4 : figure 2 4 : 3 - wire basic spi read or write sequence (mode 11) 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 csb sck sdi rw a d 6 ad5 ad4 ad3 ad2 ad1 ad0 di5 di4 di3 di2 di1 di0 di7 di6
BMI055 d ata sheet page 126 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 9.2 inter - integrated circuit (i2c) the i2c bus uses scl (= scx pin, serial clock) and sda (= sdx pin, serial data input and output) signal lines. both lines are connected to v ddio externally via pull - up resistors so that they are pulled high when the bus is free. the i2c interface of the BMI055 is compatible with the i2c specification um10204 rev. 03 (19 june 2007), available at http://www.nxp.com . the BMI055 supports i2c sta ndard 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). the default i2c address of the accel erometer device is 0011000b (0x18) and of the gyro device is 1101000b (0x68) . it is used if the sdo ( 1 and 2 ) pin is pulled to gnd. the alternative accel address 0011001b (0x19) and /or the alternative gyro address 1101001 b (0x 69 ) is selected by pulling the sdo ( 1 and /or 2 ) pin to v ddio . the timing specification for i2c of the BMI055 is given in t able 3 1 : table 3 1 : i2c timings parameter symbol condition min max units clock frequency f scl 400 khz scl low period t low 1.3 ? 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 s idle time between write accesses, suspend mode, low - power mode 1 t idle_wacc_s um 450 s
BMI055 d ata sheet page 127 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. figure 2 5 shows the definition of the i2c timings given in ta ble 3 1 : figure 2 5 : i2c timing diagram the i2c protocol works as follows: start : data transmission on the bus begins with a high to low transition on the sda line while scl is held high (start condition (s) indicated by i2c bus master). once the start signal is transferred by the master, the bus is considered busy. stop : each data transfer should be terminated by a stop signal (p) generated by master. the stop condition is a low to high transit ion on sda line while scl is held high. ack : each byte of data transferred must be acknowledged. it is indicated by an acknowledge bit sent by the receiver. the transmitter must release the sda line (no pull down) during the acknowledge pulse while the re ceiver must then pull the sda line low so that it remains stable low during the high period of the acknowledge clock cycle. in the following diagrams these abbreviations are used: s start p stop acks acknowledge by slave ackm acknowledge by mast er nackm not acknowledge by master rw read / write a start immediately followed by a stop (without sc l toggling from vddio to gnd ) is not supported. if such a combination occurs, the stop is not recognized by the device. t hddat t f t buf sd a sc l sd a t low t hdsta t r t susta t high t sudat t susto
BMI055 d ata sheet page 128 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. i2c write access: i2c write access can be used to write a data byte in one sequence. the sequence begins with start condition generated by the master, followed by 7 bits slave address and a write bit (rw = 0). the slave sends an acknowledge bit (ack = 0) and releases the bus. then the master sends the one byte register address. the slave again acknowledges the transmission and waits for the 8 bits of data which shall be written to the specified register address. after the slave acknowledges the data byte, the master generates a stop signal and terminates the writing protocol. example of an i2c write access to the accelerometer : figure 2 6 : i2c write i2c read access: i2c read access also can be used to read one or multiple data bytes in one sequence. a read sequence consists of a one - byte i2c write phase followed by the i2c read phase. the two parts of the transmission must be separated by a repeated start condition (sr). the i2c write phase addresses the slave and sends the register address to be rea d. after slave acknowledges the transmission, the master generates again a start condition and sends the slave address together with a read bit (rw = 1). then the master releases the bus and waits for the data bytes to be read out from slave. after each da ta byte the master has to generate an acknowledge bit (ack = 0) to enable further data transfer. a nackm (ack = 1) from the master stops the data being transferred from the slave. the slave releases the bus so that the master can generate a stop condition and terminate the transmission. the register address is automatically incremented and, therefore, more than one byte can be sequentially read out. once a new data read transmission starts, the start address will be set to the register address specified in the latest i2c write command. by default the start address is set at 0x00. in this way repetitive multi - bytes reads from the same starting address are possible. in order to prevent the i2c slave of the device to lock - up the i2c bus, a watchdog timer (wdt ) is implemented. the wdt observes internal i2c signals and resets the i2c interface if the bus is locked - up by the BMI055 . the activity and the timer period of the wdt can be configured through the bits ( acc 0x34) plus ( gyr 0x34 ) i2c_wdt_en and ( acc 0x34) plus ( gyr 0x34 ) i2c_wdt_sel . writing 1 (0) to ( acc 0x34) i2c_wdt_en plus ( gyr 0x34) i2c_wdt_en activates (de - activates) the wdt. writing 0 (1) to ( acc 0x34) i2c_wdt_en plus ( gyr 0x34) i2c_wdt_se selects a timer period of 1 ms (50 ms). start rw acks acks acks stop 0 0 1 1 0 0 0 0 0 0 0 1 0 0 0 0 x x x x x x x x data (0x09) p s slave adress register adress (0x10) control byte data byte
BMI055 d ata sheet page 129 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. example of an i2c read access to the accelerometer : figure 2 7 : i2c multiple read 9.2.1 spi and i2c access restrictions in order to allow for the correct internal synchronisation of data written to the BMI055, certain access restrictions apply for consecutive write accesses or a write/read sequence through the spi as well as i 2 c interface. the required waiting period depends on whether the device is operating in normal mode or other modes according to chapter s 5.1 and 7.1 . as illustrated in figure 2 8 , an interface idle time of at least 2s is required following a write operation when the device operates in normal mode. in suspend mode an interface idle time of least 450s is required. figure 2 8 : post - write access timing constraints start rw acks dummy acks 0 0 1 1 0 0 0 0 x 0 0 0 0 0 1 0 start rw acks ackm ackm 0 0 1 1 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 data byte data byte read data (0x04) read data (0x05) p data byte data byte read data (0x06) read data (0x07) control byte data byte data byte s slave adress register adress (0x02) sr slave adress read data (0x03) read data (0x02) x - after - write register update period ( > 2 us / 450 us ) write - operation x - operation
BMI055 d ata sheet page 130 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 10. fifo operation 10.1 fifo operating modes the bm i055 features 2 integrated fifo memories capable of storing up to 32 frames of accelerometer data and 100 frames of gyro data in fifo mode . conceptually each frame consists of three 16 bit words corresponding to th e x, y and z - axis of the accelerometer and the gyro , which are sampled at the same point in time. t he fifo is a buffer memory, which can be configured to operate in the following modes: ? fifo mode: in fifo mode the x, y and z acceleration - and rate data o f the selected axes and sensors are stored in the buffer memory. if enabled, a watermark interrupt is triggered when the buffer has filled up to a configurable level. the buffer will be continuously filled until the fill level reaches 32 frames for the acc elerometer and 100 frames for the gyroscope . when it is full the data collection is stopped, and all additional samples are ignored. once the buffer is full, a fifo - full interrupt is generated if it has been enabled. ? stream mode : in stream mode the x, y a nd z acceleration - and rate data of the selected axes are stored in the buffer until it is full. the buffer has a depth of 31 frames of accelerometer data and 99 frames of gyro data . when the buffer is full the data collection continues and oldest entry is discarded . if enabled, a watermark interrupt is triggered when the buffer is filled to a configurable level. once the buffer is full, a 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 ( acc 0x3e) <7:6> and (gyr 0x0e ) <7:6> according to table 3 2 . when reading register ( acc 0x3e) < 7:6> and (gyr 0x0e ) <7:6> the current operating mode is given. writing to ( acc 0x3e) <7:6> and (gyr 0x0e ) <7:6> clears and resets the buffer and resets the fifo - full and watermark interrupt. address: 0x3e bits<7:6> mode<1:0> fifo mode function 00 01 10 11
BMI055 d ata sheet page 131 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 10.2 fifo data readout the fifo stores the data that are also available at the read - out registers ( acc 0x02) to ( acc 0x07) for the accelerometer and/or ( gyr 0x02) to ( gyr 0x07) for the gyroscope . thus, all configuration settings apply to the fifo data as well as the dat a readout registers. the fifo read out is possible through register ( acc 0x3f) bits <7:0> and/or ( gyr 0x3f) bits <7:0> . the readout can be performed using burst mode since the read address counter is no longer incremented, when it has reached address (0x3f) . this implies that the trapping also occurs when the burst read access starts below address (0x3f) . a single burst can read out one or more frames at a time. if a frame is not read completely due to an incomplete read operation, the remaining part o f the frame is lost. in this case the fifo aligns to the next frame during the next read operation. the address (acc 0x3e) bits<1:0> (data_select) or ( gyr 0x3e ) bits<1:0> (data_select) allows the user to select the data stored in the fifo according to tabl e 3 3 . writing to data_select<1:0> clears the fifo buffer. address: acc 0x3e and gyr 0x3e bits<1:0> data_select data of axis stored in fifo 00 (default) x,y,z (plus int_status0,1 for gyro) 01 x only 10 y only 11 z only address: gyr 0x3d bit 7 tag interrupt data stored in fifo 0 (default) do not collect interrupts for gyro 1 collect interrupts for gyro table 3 3 : fifo data selection 10.2.1 data readout accelerometer if all axes and tag are enabled, the format of the data read - out from (acc 0x3f) fifo_data<7:0> is as follows: if all axes are enabled, the format of the data read - out from ( acc 0x3f) is as follows : if only one axis is enabled, the format of the data read - out from ( acc 0x3f) is as follows (example shown: y - axis only, other axes are equivalent). 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
BMI055 d ata sheet page 132 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 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 s 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 partial ly. 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. 10.2.2 data readout gyroscope if all axes and tag are enabled, the format of the data read - out from ( gyr 0x3f) fifo_data<7:0> is as follows: if only one axis is enabled (and tag is disabled), the format of the data read - out from register fifo_data<7:0> is as follows (example shown: y - axis only, other axis ar e equivalent). the buffer depth of the fifo is independent of the fact whether all or a single axis have been selected. 10.2.3 external fifo s ynchronization (efs) for the g yroscope in addition to the explained data format for the angular rate and interrupt data, the fifo of the gyroscope features a mode that allows the precise synchronization of external event with the gyro scope angular rate and gyro scope interrupts saved in the internal fifo. this synchronization can be used for example for image and video stabilization applications. the efs mode can be used in the o perating m odes fifo - mode a nd stream - mode but not in bypass - mode. in order to use the efs capability, any of the gyroscope i nterrupt pins (int 3 or int 4 ) can be reconfigured to act as efs - pin, but not both. in addition, the efs - mode has to be enable d . the so configured interrupt pin will then behave as an i nput pin and not as an i nterrupt pin. the working principle is shown in below f igur e: frame 1 y lsb y msb y lsb y msb frame 2 frame 1 ( ? x lsb int. status bits x msb y lsb y msb z lsb z msb int_status 0 int_status 1
BMI055 d ata sheet page 133 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. timing d iagram for e xternal fifo s ynchroni z ation. efs - pin is the interrupt pin configured as efs - mode. fifo z (0) is the le a s t significant bit of the z - axis gyro data stored in the fifo . in order t o enable the efs - mode the register ( gyr 0x3 4) bit<5> must be set to 1 . to select the int 4 pin as efs - pin, set the register ( gyr 0x3 4) bit<4> to 1 . to select the int 3 pin as efs - pin, set the register ( gyr 0x3 4) bit<4> to 0. in this mode, the le a s t significant bit of the z - axis is used as tag - bit, therefore losing its meaning as gyro scope data bit. the re mainin g 15 bit s of the z - axis gyro scope data keep the same mean ing as in standard mode. once the efs - pin is set to h igh level, the next fifo word w ill be marked with an efs - tag ( z - axis lsb = 1). while the efs - pin is kept at a high level, the corresponding fifo words would be always marked with an efs - tag. after the e fs - pin is reset to l ow level, the immediate next fifo word could still be marked with the efs - tag and only after this word, the next efs - tag will be reset ( z - axis lsb=0). this is shown in the above diagram. the efs - tag synchronizes external events with th e same time precision as the fifo update rate. therefore update rate of the efs - tag is determined by the output data rate and can be set from 100hz up to 2 , 000hz. for more information consult the r egister (gyr 0x10 ) (bw) in the r egister description. 10.2.4 inter face speed requirements for gyroscope fifo use in order to use the fifo effectively, larger blocks of data need to be read out quickly. depending on the output data rate of the sensor, this can impose requirements on the interface. the output data rate o f the gyroscope is determined by the filter configuration ( see chapter 8 .2). what interface speed is required depends on the selected rate. ? for an i 2 c speed of 400 khz, every filter mode can be used. ? for an i 2 c speed of 200 khz, only modes with an output data rate of 1 khz and below are recommended. ? for an i 2 c speed of 100 khz, only modes with an output data rate of 400 hz and below are recommended. 10.3 fifo frame counter and overrun flag the address acc and gyr 0x0e bits<6:0> (frame_counter<6:0>) indicate t he current fill level of the buffer. if additional frames are written to the buffer alth ough the fifo is full, the address acc and gyr 0x0e bit 7 (overrun flag) is set. if the fifo is reset, the fifo fill level indicated in the frame_counter<6:0> is set to 0 and the overrun flag is reset each time a write operation happens to the fifo configuration registers. the overrun bit is not reset when the fifo fill level frame_counter<6:0> has decremented to 0 due to reading from the fifo_data<7:0> register. 0 0 1 1 1 0 0 e f s - p i n f i f o z ( 0 )
BMI055 d ata sheet page 134 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 10.4 fi fo interrupts the fifo controller has the capability to issue two different interrupt events, the fifo - full and the watermark event. generally the fifo - full and watermark interrupts are functional in all non - comp osite modes, including bypass. in order to enable (disable) the watermark and the fifo - full - interrupt for the accelerometer the (acc 0x17) int_fwm_en bit, the int_ffull_en bit, as well as one or both of the int1_fwm or int2_fwm and int1_ffull or int2_ffull and bits must be set to 1 ( 0). for the gyroscope, the fifo_wm_en bit, the fifo_en bit, as well as one or both of the int1_fifo or int2_fifo bits must be set. details are given in table 34 and table 35. the watermark interrupt is asserted when the fill level in the buffer has reached the frame number defined by the w ater mark level trigger (acc 0x30) and/or (gyr 0x3d) . the status of the watermark interrupt for the accelerometer ma y be read back through the address (acc 0x0a ) bi t 6 (fifo_wm_int) status bit . for the gyroscope it ma y be read back through the address (gyr 0x0 a ) bit 4 (fifo_int) status bit. writing to w ater mark level trigger (acc 0x30) and/or (gyr 0x3d) register clears the fifo buffer. the fifo - full interrupt is the second interrupt capabi lity associated with the fifo. the fifo - full interrupt is asserted when the buffer has b een fully filled with samples. in fifo mode this occurs: ? for the accelerometer 32 samples , in stream mode 31 samples, and in bypass mode 1 samp le after the buffer has been cleared. ? for the gyroscope 100 samples, in stream mode 99 samples, and in bypass mode 1 sample afte r the buffer has been cleared. the status of the fifo - full interrupt for the accelerometer may be read back through the address (acc 0x0a) bit (fifo_full_int) status bit. for the gyroscope it ma y be read back through the address (gyr 0x0 a) bit 4 (fifo_int) status bit. acc register acc address fifo_water_mark_level_trigger_retain <5:0> 0x30 bits<5:0> int_fwm_en 0x17 bit 6 int_ffull_en 0x17 bit 5 int1_fwm 0x1a bit 1 int2_fwm 0x1a bit 6 int1_ffull 0x1a bit 2 int2_ffull 0x1a bit 5 table 3 4 : interrupt configuration bits relevant for the accelerometer fifo controller gyr register gyr address h2o_mrk_lvl_trig_ret<6:0> 0x3d bits<6:0> fifo_wm_en 0x1e bit 7 fifo_en 0x15 bit 6 int1_fifo 0x18 bit 2 int2_fifo 0x18 bit 5 table 3 5 : interrupt configuration bits relevant for the gyroscope fifo controller
BMI055 d ata sheet page 135 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 11. pin - out and connection diagram 11.1 pin - out figure 2 9 : pin - out top view figur e 30 : pin - out bottom view table 3 6 : pin description pin# name i/o type description connect to in spi 4w in spi 3w in i2c 1* int2 digital out interrupt pin 2 (accel int #2) int 2 int 2 int 2 2 nc -- -- gnd gnd gnd 3 vdd supply power supply analog & digital domain ( 2.4 - 3.6v) v dd v dd v dd 4 gnd a ground ground for analog domain gnd gnd gnd 5 csb2 digital in spi chip select gyro csb 2 csb 2 dnc (float) 6 gndio ground ground for i/o gnd gnd gnd 7 ps digital in protocol select (gnd = spi, v ddio = i2c) gnd gnd v ddio 8 sc x digital in spi: serial clock sck i2c: serial clock scl sck sck scl 9 sd x digital i/o i2c: sda serial data i/o spi 4w: sdi serial data i spi 3w: sda serial data i/o sdi sda sda 10 sdo 2 digital out spi serial data out gyro address select in i2c mode see chapter 9.2 sdo 2 dnc (float) gnd for default addr. 11 vddio supply digital i/o supply voltage (1.2v 3.6v) v ddio v ddio v ddio 12* int 3 digital i/o interrupt pin 3 (gyro int #1) int 3 int 3 int 3 13* int4 digital i/o interrupt pin 4 (gyro int #2) int 4 int 4 int 4 14 csb1 digital in spi chip select accel csb 1 csb 1 dnc (float) 15 sdo 1 digital out spi serial data out accel address select in i2c mode see chapter 9.2 sdo 1 dnc (float) gnd for default addr. bottom view pads visible! top view pads not visible! 7 1 8 16 9 15 1 7 8 9 15 16
BMI055 d ata sheet page 136 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 16* int1 digital out interrupt pin 1 (accel int #1) int1 int1 int1 * if int are not used, please do not connect them (dnc) ! 11.2 connection diagram 4 wire spi figure 3 1 : 4 - wire spi connection c 2 v d d i n t 1 - a c c e l i n t 2 - a c c e l g n d g n d s c k m o s i v d d i o m i s o i n t 2 - g y r o i n t 1 - g y r o g n d c 1 g n d 8 1 6 7 6 5 4 3 2 1 9 1 0 1 1 1 2 1 3 1 4 1 5 b m i 0 5 5 t o p v i e w ( p a d s n o t v i s i b l e ) p s g n d i o c s b 2 g n d v d d n c i n t 2 i n t 1 s d i s d o 2 v d d i o i n t 3 i n t 4 c s b 1 s d o 1 s c k _ _ c s C g y r o _ _ c s C a c c e l g n d
BMI055 d ata sheet page 137 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 11.3 connection diagram 3 - wire spi figure 3 2 : 3 - wire spi connection c 2 v d d i n t 1 - a c c e l i n t 2 - a c c e l g n d g n d s c k s i s o v d d i o i n t 2 - g y r o i n t 1 - g y r o g n d c 1 g n d 8 1 6 7 6 5 4 3 2 1 9 1 0 1 1 1 2 1 3 1 4 1 5 b m i 0 5 5 t o p v i e w ( p a d s n o t v i s i b l e ) p s g n d i o c s b 2 g n d v d d n c i n t 2 i n t 1 s d i s d o 2 v d d i o i n t 3 i n t 4 c s b 1 s d o 1 s c k _ _ c s C g y r o _ _ c s C a c c e l d o n o t c o n n e c t d o n o t c o n n e c t g n d
BMI055 d ata sheet page 138 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 11.4 connection diagram i 2 c fi gure 3 3 : i2c connection note: the recommended value for c 1 , c 2 is 100 nf. c 2 v d d i o v d d i n t 1 - a c c e l i n t 2 - a c c e l g n d g n d s c l s d a v d d i o r 1 i 2 c - a d d r _ l s b - g y r o i 2 c - a d d r _ l s b - a c c e l i n t 2 - g y r o i n t 1 - g y r o d o n o t c o n n e c t d o n o t c o n n e c t g n d r 2 c 1 g n d 8 1 6 7 6 5 4 3 2 1 9 1 0 1 1 1 2 1 3 1 4 1 5 b m i 0 5 5 t o p v i e w ( p a d s n o t v i s i b l e ) p s g n d i o c s b 2 g n d v d d n c i n t 2 i n t 1 s d i s d o 2 v d d i o i n t 3 i n t 4 c s b 1 s d o 1 s c k g n d
BMI055 d ata sheet page 139 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12. package 12.1 o utline dimensions the sensor housing is a standard lga package. its dimensions are the following. unit is mm. note: unless otherwise specified tolerance = decimal 0.05 figure 34: package outline dimensions
BMI055 d ata sheet page 140 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12.2 s ensing axes orientation if the sensor is accelerated and/or rotated in the indicated directions, the corresponding channel s of the device will deliver a positive acceleration and/or yaw rate signal (dynamic acceleration). if the sensor is at rest without any rotation and the force of gravity is acting contrary to the indicated directions, the output of the corresponding acceleration channel will be positive and the corresponding gyroscope channel will be zero (static acceleration). example: if the sensor is at rest or at uniform motion in a gravity field according to the figure given below, the output signals are: ? 0g for the x acc ch annel and 0 /sec for the ? x gyr channel ? 0g for the y acc channel and 0 /sec for the ? y gyr channel ? + 1g for the z acc channel and 0 /sec for the ? z gyr channel figure 3 5 : orientation of sensing axis force of gravity x y z ? x ? y ? z
BMI055 d ata sheet page 141 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. the following table 3 7 lists all corresponding output signals on x, y, z and ? x , ? y , ? 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 vector as shown above. table 3 7 : output signals depending on device orientation sensor orientation (gravity vector ) output signal x 0g 0lsb +1g + 1024 lsb 0g 0lsb - 1g - 1024 lsb 0g 0lsb 0g 0lsb output signal y - 1g - 1024 lsb 0g 0lsb +1g + 1024 lsb 0g 0lsb 0g 0lsb 0g 0lsb output signal z 0g 0lsb 0g 0lsb 0g 0lsb 0g 0lsb +1g + 1024 lsb - 1g - 1024 lsb output signal ? x 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb output signal ? y 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb output signal ? z 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb 0/sec 0lsb upright u pright o
BMI055 d ata sheet page 142 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12.3 landing pattern recommendation for the design of the landing patterns, we recommend the following dimensioning: figure 3 6 : landing patterns, dimensions are in mm same tolerances as given for the outline dimensions (chapter 12.1, fig. 34) should be assumed . a wiring no - go area in the top layer of the pcb below the sensor is strongly recommended (e.g. no vias, wires or other metal struc tures). 0 . 2 5 4 . 5 0 . 5 0 . 6 7 5 1 2 3 4 5 6 7 1 5 1 4 1 3 1 2 1 1 1 0 9 8 1 6 0 . 9 2 5 1 . 6 7 5 3 . 0
BMI055 d ata sheet page 143 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12.4 marking 12.4.1 mass production samples table 3 8 : marking of mass production parts labeling name symbol remark product number 134 3 numeric digits, fixed to identify product type sub - con id l 1 alphanumeric digit, variable to identify sub - con date - code yyww 4 numeric digits, fixed to identify yy = year ww = working week lot counter c ccc 4 alphanumeric digits, variable to generate mass production trace - code pin 1 identifier ? -- 12.4.2 engineering samples table 39 : marking of engineering samples labeling name symbol remark eng. sample id n 1 alphanumeric digit, fixed to identify engineering sample, n = + or e or e 1 alphanumeric digit (a) to generate trace - code 2 numeric digit (yy) to generate date - code 2 numeric digit (ww) to generate date - code counter id cc cc 4 alphanumeric digits, variable to generate trace - code pin 1 identifier ? -- 055n ayyww cccc 134 lyyww ccc
BMI055 d ata sheet page 144 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12.5 soldering guidelines the moisture sensitivity level of the bm i055 sensors corresponds to jedec level 1, see also - ipc/jedec j - std - 020c "joint industry standard: moisture/reflow sensitivity classification for non - hermetic solid state surface mount devices" - ipc/jedec j - std - 033a "joint industry standard: handling, packin g, shipping and use of moisture/reflow s ensitive 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 3 7 : soldering profile
BMI055 d ata sheet page 145 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12.6 handling instructions micromechanical sensors are designed to sense acceleration with high accuracy even at low amplitudes and contain highly sensitive structures inside the sensor element. the mems sensor can tolerate mechanical shocks up to seve ral thousand g's. however, these limits might be exceeded in conditions with extreme shock loads such as e.g. hammer blow on or next to the sensor, dropping of the sensor onto hard surfaces etc. we recommend to avoid g - forces beyond the specified limits d uring transport, handling and mounting of the sensors in a defined and qualified installation process. this device has built - in protections against high electrostatic discharges or electric fields (e.g. 2kv hbm); however, anti - static precautions should b e taken as for any other cmos component. unless otherwise specified, proper operation can only occur when all terminal voltages are kept within the supply voltage range. unused inputs must always be tied to a defined logic voltage level. 12.7 tape and reel spe cification the bm i055 is shipped in a standard cardboard box. the box dimension for 1 reel is: l x w x h = 35cm x 35cm x 6cm . bm i055 quantity: 5 ,000pcs per reel, please handle with care. a 0 = 4.85 b 0 = 3.35 k 0 = 1.20 figure 3 8 : tape and reel dimensions in mm
BMI055 d ata sheet page 146 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 12.7.1 orientation within the reel ? processing direction ? figure 3 9 : orientation of the BMI055 devices relative to the tape 12.8 environmental safety the bm i055 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 08 september 20 11 on the restriction of the use of certain hazardous substances in electrical and electronic equipment. 12.8.1 halogen content t he bm i055 is halogen - free. for more details on the analysis results please contact your bosch sensortec representative. 12.8.2 internal package structure within the scope of bosch sensortecs ambition to improve its products and secure the mass product supply, bosch sensortec qualifies additional sources (e.g. 2 nd source) for the lga package of the bm i055 . while bosch sensortec took care that all of the technical packages parameters are described above ar e 100% identical for all sources, there can be differences in the chemical content and the internal structural between the different package sources. however, as secured by the extensive product qualification process of bosch sensortec, this has no impact to the usage or to the quality of the bm i055 product.
BMI055 d ata sheet page 147 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 13. legal disclaimer 13.1 engineering samples engineering samples are marked with an plus (+) or (e) or (e) or (n) . samples may vary from the valid technical specifications of the product series contained in this data sheet. they are therefore not intended or fit for resale to third parties or for use in end products. their sole purpose is internal client testing. the testing of an engineering sample may in no way replace the testing of a product series. bosch sensortec assumes no liability for the use of engineering samples. the purchaser shall indemnify bosch sensortec from all claims arising from the use of engineering samples. 13.2 product use bosch sensortec products are developed for the consumer goods indust ry. they may only be used within the parameters of this product data sheet. they are not fit for use in life - sustaining or security sensitive systems. security sensitive systems are those for which a malfunction is expected to lead to bodily harm or signif icant property damage. in addition, they are not fit for use in products which interact with motor vehicle systems. the resale and/or use of products are at the purchasers own risk and his own responsibility. the examination of fitness for the intended u se 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 reimbur se bosch sensortec for all costs in connection with such claims. the purchaser must monitor the market for the purchased products, particularly with regard to product safety, and inform bosch sensortec without delay of all security relevant incidents. 13.3 ap plication examples and hints with respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the application of the device, bosch sensortec hereby disclaims any and all warranties and liabilities of any kind, including without limitation warranties of non - infringement of intellectual property rights or copyrights of any third party. the information given in this document shall in no event be regarded as a guarantee of conditions or characteristics. they are provided for illustrative purposes only and no evaluation regarding infringement of intellectual property rights or copyrights or regarding functionality, performance or error has been made.
BMI055 d ata sheet page 148 confidential bst - BMI055 - ds00 0 - 0 6 | revision 1.0 | may 201 3 bosch sensortec ? bosch sensortec gmbh reserves all rights even in the event of industrial property rights. we reserve all rights of disposal s uch as copying and passing on to third parties. bosch and the symbol are registered trademarks of robert bosch gmbh, germany. note: specifications within this document are su bject to change without notice. 14. document history and m odification rev. no chapter description of modification/c hanges date 0.1 - initial release 0.2 p reliminary data sheet 0.5 p reliminary data sheet 0.6 p reliminary data sheet 0.7 not released 0.8 p reliminary data sheet 0 . 9 p reliminary data sheet 1.0 1.2 , 5.1 , 5.1 , 5.6.5.4 , 5.7 , 5.6.3 , 7.5.2 , 7.7 , 7.7.3 , 10.4 f inal data sheet release 2 9 may 2013 bosch sensortec gmbh gerhard - kindler - strasse 8 72770 reutlingen / germany contact@bosch - sensortec.com www.bosch - sensortec.com modifications reserved | printed in germany document number: bst - BMI055 - ds000 - 06 revision _ 1.0_052013

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