BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Data sheet
BMA250E
Digital, triaxial acceleration sensor
BMA250E: Data sheet
Document revision
1.3
Document release date
28 April 2015
Document number
BST-BMA250E-DS004-06
Technical reference code(s)
0 273 141 169 0 273 141 219
Notes
Data in this document are subject to change without notice.
Product photos and pictures are for illustration purposes only and
may differ from the real product’s appearance.
Not intended for publishing
Bosch Sensortec
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
BMA250E
10 BIT, DIGITAL, TRIAXIAL ACCELERATION SENSOR WITH INTELLIGENT
ON-CHIP MOTION-TRIGGERED INTERRUPT CONTROLLER
Key features
Ultra-Small package LGA package (12 pins), footprint 2mm x 2mm,
height 0.95mm
Digital interface SPI (4-wire, 3-wire), I²C, 2 interrupt pins
VDDIO voltage range: 1.2V to 3.6V
Programmable functionality Acceleration ranges ±2g/±4g/±8g/±16g
Low-pass filter bandwidths 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 recognition
- flat detection
- low-g/high-g detection
- no-motion / inactivity detection
Ultra-low power Low current consumption, short wake-up time,
advanced features for system power management
Temperature sensor
RoHS compliant, halogen-free
Typical applications
Display profile switching
Menu scrolling, tap / double tap sensing
Gaming
Pedometer / step counting
Free-fall detection
E-compass tilt compensation
Drop detection for warranty logging
Advanced system power management for mobile applications
General description
The BMA250E is a triaxial, low-g acceleration sensor with digital output for consumer
applications. It allows measurements of acceleration in three perpendicular axes. An evaluation
circuitry (ASIC) converts the output of a micromechanical acceleration-sensing structure
(MEMS) that works according to the differential capacitance principle.
Package and interfaces of the BMA250E have been defined to match a multitude of hardware
requirements. Since the sensor features an ultra-small footprint and a flat package it is
ingeniously suited for mobile applications.
The BMA250E offers a variable VDDIO voltage range from 1.2V to 3.6V and can be programmed
to optimize functionality, performance and power consumption in customer specific applications.
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
In addition it features an on-chip interrupt controller enabling motion-based applications without
use of a microcontroller.
The BMA250E senses tilt, motion, inactivity and shock vibration in cell phones, handhelds,
computer peripherals, man-machine interfaces, virtual reality features and game controllers.
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Index of Contents
1. SPECIFICATION ........................................................................................................................ 8
2. ABSOLUTE MAXIMUM RATINGS .......................................................................................... 11
3. BLOCK DIAGRAM ................................................................................................................... 12
4. FUNCTIONAL DESCRIPTION ................................................................................................. 13
4.1 SUPPLY VOLTAGE AND POWER MANAGEMENT ..................................................................... 13
4.2 POWER MODES ................................................................................................................. 14
4.3 SENSOR DATA .................................................................................................................. 18
4.3.1 ACCELERATION DATA ....................................................................................................................18
4.3.2 TEMPERATURE SENSOR ............................................................................................................... 19
4.4 SELF-TEST ....................................................................................................................... 20
4.5 OFFSET COMPENSATION ................................................................................................... 21
4.5.1 SLOW COMPENSATION ..................................................................................................................23
4.5.2 FAST COMPENSATION ....................................................................................................................23
4.5.3 MANUAL COMPENSATION ...............................................................................................................24
4.5.4 INLINE CALIBRATION ......................................................................................................................24
4.6 NON-VOLATILE MEMORY .................................................................................................... 25
4.7 INTERRUPT CONTROLLER .................................................................................................. 26
4.7.1 GENERAL FEATURES .................................................................................................................... 26
4.7.2 MAPPING TO PHYSICAL INTERRUPT PINS (INTTYPE TO INT PIN#)......................................................27
4.7.3 ELECTRICAL BEHAVIOUR (INT PIN# TO OPEN-DRIVE OR PUSH-PULL) ................................................28
4.7.4 NEW DATA INTERRUPT ...................................................................................................................28
4.7.5 SLOPE / ANY-MOTION DETECTION ................................................................................................. 29
4.7.6 TAP SENSING ................................................................................................................................31
4.7.7 ORIENTATION RECOGNITION ..........................................................................................................34
4.7.8 FLAT DETECTION .......................................................................................................................... 39
4.7.9 LOW-G INTERRUPT ....................................................................................................................... 40
4.7.10 HIGH-G INTERRUPT .....................................................................................................................41
4.7.11 NO-MOTION / SLOW MOTION DETECTION .......................................................................................42
4.8 SOFTRESET ...................................................................................................................... 44
5. FIFO OPERATION ................................................................................................................... 45
5.1 FIFO OPERATING MODES ................................................................................................. 45
5.2 FIFO DATA READOUT ....................................................................................................... 46
5.3 FIFO FRAME COUNTER AND OVERRUN FLAG ..................................................................... 46
5.4 FIFO INTERRUPTS ............................................................................................................ 47
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
6. REGISTER DESCRIPTION ...................................................................................................... 48
6.1 GENERAL REMARKS .......................................................................................................... 48
6.2 REGISTER MAP ................................................................................................................. 49
REGISTER 0X00 (BGW_CHIPID) ............................................................................................ 50
REGISTER 0X02 (ACCD_X_LSB) ........................................................................................... 50
REGISTER 0X03 (ACCD_X_MSB) .......................................................................................... 51
REGISTER 0X04 (ACCD_Y_LSB) ........................................................................................... 52
REGISTER 0X05 (ACCD_Y_MSB) .......................................................................................... 53
REGISTER 0X06 (ACCD_Z_LSB) ........................................................................................... 54
REGISTER 0X07 (ACCD_Z_MSB) .......................................................................................... 55
REGISTER 0X08 (ACCD_TEMP) ............................................................................................ 56
REGISTER 0X09 (INT_STATUS_0) ......................................................................................... 57
REGISTER 0X0A (INT_STATUS_1) ........................................................................................ 58
REGISTER 0X0B (INT_STATUS_2) ........................................................................................ 59
REGISTER 0X0C (INT_STATUS_3) ........................................................................................ 60
REGISTER 0X0E (FIFO_STATUS) .......................................................................................... 61
REGISTER 0X0F (PMU_RANGE) ............................................................................................ 62
REGISTER 0X10 (PMU_BW) ................................................................................................... 62
REGISTER 0X11 (PMU_LPW) ................................................................................................. 63
REGISTER 0X12 (PMU_LOW_NOISE) ................................................................................... 64
REGISTER 0X13 (ACCD_HBW) .............................................................................................. 65
REGISTER 0X14 (BGW_SOFTRESET) ................................................................................... 66
REGISTER 0X16 (INT_EN_0) .................................................................................................. 66
REGISTER 0X17 (INT_EN_1) .................................................................................................. 67
REGISTER 0X18 (INT_EN_2) .................................................................................................. 68
REGISTER 0X19 (INT_MAP_0) ............................................................................................... 69
REGISTER 0X1A (INT_MAP_1) ............................................................................................... 70
REGISTER 0X1B (INT_MAP_2)............................................................................................... 71
REGISTER 0X1E (INT_SRC) ................................................................................................... 72
REGISTER 0X20 (INT_OUT_CTRL) ........................................................................................ 73
REGISTER 0X21 (INT_RST_LATCH) ...................................................................................... 74
REGISTER 0X22 (INT_0) ......................................................................................................... 74
REGISTER 0X23 (INT_1) ......................................................................................................... 75
REGISTER 0X24 (INT_2) ......................................................................................................... 75
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
REGISTER 0X25 (INT_3) ......................................................................................................... 76
REGISTER 0X26 (INT_4) ......................................................................................................... 76
REGISTER 0X27 (INT_5) ......................................................................................................... 77
REGISTER 0X28 (INT_6) ......................................................................................................... 78
REGISTER 0X29 (INT_7) ......................................................................................................... 78
REGISTER 0X2A (INT_8) ........................................................................................................ 79
REGISTER 0X2B (INT_9) ........................................................................................................ 80
REGISTER 0X2C (INT_A) ........................................................................................................ 81
REGISTER 0X2D (INT_B) ........................................................................................................ 82
REGISTER 0X2E (INT_C) ........................................................................................................ 82
REGISTER 0X2F (INT_D) ........................................................................................................ 83
REGISTER 0X30 (FIFO_CONFIG_0)....................................................................................... 84
REGISTER 0X32 (PMU_SELF_TEST) ..................................................................................... 85
REGISTER 0X33 (TRIM_NVM_CTRL) ..................................................................................... 86
REGISTER 0X34 (BGW_SPI3_WDT) ...................................................................................... 87
REGISTER 0X36 (OFC_CTRL) ................................................................................................ 88
REGISTER 0X37 (OFC_SETTING) .......................................................................................... 89
REGISTER 0X38 (OFC_OFFSET_X) ...................................................................................... 90
REGISTER 0X39 (OFC_OFFSET_Y) ....................................................................................... 91
REGISTER 0X3A (OFC_OFFSET_Z) ...................................................................................... 92
REGISTER 0X3B (TRIM_GP0) ................................................................................................ 92
REGISTER 0X3C (TRIM_GP1) ................................................................................................ 93
REGISTER 0X3E (FIFO_CONFIG_1) ...................................................................................... 94
REGISTER 0X3F (FIFO_DATA) ............................................................................................... 95
7. DIGITAL INTERFACES ............................................................................................................ 96
7.1 SERIAL PERIPHERAL INTERFACE (SPI) ................................................................................ 97
7.2 INTER-INTEGRATED CIRCUIT (I²C) .................................................................................... 101
7.2.1 SPI AND I²C ACCESS RESTRICTIONS .......................................................................................... 104
8. PIN-OUT AND CONNECTION DIAGRAM ............................................................................ 105
8.1 PIN-OUT ......................................................................................................................... 105
8.2 CONNECTION DIAGRAM 4-WIRE SPI ................................................................................. 106
8.3 CONNECTION DIAGRAM 3-WIRE SPI ................................................................................. 107
8.4 CONNECTION DIAGRAM I2C .............................................................................................. 108
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
9. PACKAGE .............................................................................................................................. 109
9.1 OUTLINE DIMENSIONS ..................................................................................................... 109
9.2 SENSING AXES ORIENTATION ........................................................................................... 110
9.3 LANDING PATTERN RECOMMENDATION ............................................................................ 111
9.4 MARKING ....................................................................................................................... 112
9.4.1 MASS PRODUCTION DEVICES .......................................................................................................112
9.4.2 ENGINEERING SAMPLES ..............................................................................................................112
9.5 SOLDERING GUIDELINES .................................................................................................. 113
9.6 HANDLING INSTRUCTIONS ................................................................................................ 114
9.7 TAPE AND REEL SPECIFICATION ....................................................................................... 115
9.7.1 ORIENTATION WITHIN THE REEL .................................................................................................. 116
9.8 ENVIRONMENTAL SAFETY ................................................................................................ 117
9.8.1 HALOGEN CONTENT ....................................................................................................................117
9.8.2 INTERNAL PACKAGE STRUCTURE .................................................................................................117
10. LEGAL DISCLAIMER .......................................................................................................... 118
10.1 ENGINEERING SAMPLES ................................................................................................ 118
10.2 PRODUCT USE .............................................................................................................. 118
10.3 APPLICATION EXAMPLES AND HINTS ............................................................................... 118
11. DOCUMENT HISTORY AND MODIFICATION ................................................................... 119
BMA250E
Data sheet
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BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
1. Specification
Unless stated otherwise, the given values are over lifetime, operating temperature and voltage
ranges. Minimum/maximum values are ±3.
Table 1: Parameter specification
OPERATING CONDITIONS
Parameter
Symbol
Condition
Min
Typ
Max
Units
Acceleration
Range
gFS2g
Selectable
via serial digital
interface
±2
g
gFS4g
±4
g
gFS8g
±8
g
gFS16g
±16
g
Supply Voltage
Internal Domains
VDD
1.62
2.4
3.6
V
Supply Voltage
I/O Domain
VDDIO
1.2
2.4
3.6
V
Voltage Input
Low Level
VIL
SPI & I²C
0.3VDDIO
-
Voltage Input
High Level
VIH
SPI & I²C
0.7VDDIO
-
Voltage Output
Low Level
VOL
IOL = 3mA, SPI & I²C
0.2VDDIO
-
Voltage Output
High Level
VOH
IOH = 3mA, SPI
0.8VDDIO
-
Total Supply
Current in
Normal Mode
IDD
TA=25°C, bw = 1kHz
VDD = VDDIO = 2.4V
130
µA
Total Supply
Current in
Suspend Mode
IDDsum
TA=25°C
VDD = VDDIO = 2.4V
2.1
µA
Total Supply
Current in
Deep Suspend
Mode
IDDdsum
TA=25°C
VDD = VDDIO = 2.4V
1
µA
Total Supply
Current in
Low-power Mode
1
IDDlp1
TA=25°C, bw = 1kHz
VDD = VDDIO = 2.4V
sleep duration = 25ms
6.5
µA
Total Supply
Current in
Low-power Mode
2
IDDlp2
TA=25°C, bw = 1kHz
VDD = VDDIO = 2.4V
sleep duration = 25ms
66
µA
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Total Supply
Current in
Standby Mode
IDDsbm
TA=25°C
VDD = VDDIO = 2.4V
62
µA
Wake-Up Time 1
tw,up1
from Low-power Mode
1 or Suspend Mode or
Deep Suspend Mode
bw = 1kHz
1.3
1.8
ms
Wake-Up Time 2
tw,up2
from Low-power Mode
2 or Stand-by Mode
bw = 1kHz
1
1.2
ms
Start-Up Time
ts,up
POR, bw = 1kHz
3
ms
Non-volatile
memory (NVM)
write-cycles
nNVM
15
cycles
Operating
Temperature
TA
-40
+85
°C
OUTPUT SIGNAL
Parameter
Symbol
Condition
Min
Typ
Max
Units
Sensitivity
S2g
gFS2g, TA=25°C
256
LSB/g
S4g
gFS4g, TA=25°C
128
LSB/g
S8g
gFS8g, TA=25°C
64
LSB/g
S16g
gFS16g, TA=25°C
32
LSB/g
Sensitivity
Temperature Drift
TCS
gFS2g,
Nominal VDD supplies
±0.02
%/K
Zero-g Offset
Off
gFS2g, TA=25°C,
nominal VDD supplies,
over life-time
±80
mg
Zero-g Offset
Temperature Drift
TCO
gFS2g,
Nominal VDD supplies
±1
mg/K
Bandwidth
bw8
2nd order filter,
bandwidth
programmable
8
Hz
bw16
16
Hz
bw31
31
Hz
bw63
63
Hz
bw125
125
Hz
bw250
250
Hz
bw500
500
Hz
bw1000
1,000
Hz
Nonlinearity
NL
best fit straight line,
gFS2g
±0.5
%FS
Output Noise
Density
nrms
gFS2g, TA=25°C
Nominal VDD supplies
Normal mode
400
µg/Hz
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Temperature
Sensor
Measurement
Range
TS
-40
85
°C
Temperature
Sensor Slope
dTS
0.5
K/LSB
Temperature
Sensor Offset
OTS
±2
K
MECHANICAL CHARACTERISTICS
Parameter
Symbol
Condition
Min
Typ
Max
Units
Cross Axis
Sensitivity
S
relative contribution
between any two of
the three axes
1
%
Alignment Error
EA
relative to package
outline
±0.5
°
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
2. Absolute maximum ratings
Table 2: Absolute maximum ratings
Parameter
Condition
Min
Max
Units
Voltage at Supply Pin
VDD Pin
-0.3
4.25
V
VDDIO Pin
-0.3
4.25
V
Voltage at any Logic Pin
Non-Supply Pin
-0.3
VDDIO+0.3
V
Passive Storage Temp. Range
≤ 65% rel. H.
-50
+150
°C
None-volatile memory (NVM)
Data Retention
T = 85°C,
after 15 cycles
10
y
Mechanical Shock
Duration ≤ 200µs
10,000
g
Duration ≤ 1.0ms
2,000
g
Free fall
onto hard surfaces
1.8
m
ESD
HBM, at any Pin
2
kV
CDM
500
V
MM
200
V
Note:
Stress above these limits may cause damage to the device. Exceeding the specified electrical
limits may affect the device reliability or cause malfunction.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
3. Block diagram
Figure 1 shows the basic building blocks of the BMA250E:
ADC
TEMP
SENS
Voltage
Regulators
+
Power Control FAST
OSC
SLOW
OSC
Logic
NVM
CSB
SDO
SDI
SCK
PS
INT1
INT2
VDD VDDIO
GND GNDIO
C/V
ADC
C/V
ADC
C/V
Interface
Figure 1: Block diagram of BMA250E
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
4. Functional description
Note: Default values for registers can be found in chapter 6.
4.1 Supply voltage and power management
The BMA250E has two distinct power supply pins:
• VDD is the main power supply for the internal blocks
VDDIO is a separate power supply pin used for supplying power for the interface
There are no limitations on the voltage levels of both pins relative to each other, as long as
each of them lies within its operating range. Furthermore, the device can be completely
switched off (VDD = 0V) while keeping the VDDIO supply on (VDDIO > 0V) or vice versa.
When the VDDIO supply is switched off, all interface pins (CSB, SDI, SCK, PS) must be kept
close to GNDIO potential.
The device contains a power-on reset (POR) generator. It resets the logic part and the register
values after powering-on VDD and VDDIO. 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 POR.
There are no constraints on the switching sequence of both supply voltages. In case the I²C
interface shall be used, a direct electrical connection between VDDIO 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 GNDIO.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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
4.2 Power modes
The BMA250E 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 BMA250E is in 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
(0x11) deep_suspend bit while (0x11) suspend bit is set to ‘0’. The I2C watchdog timer remains
functional. The (0x11) deep_ suspend bit, the (0x34) spi3 bit, (0x34) i2c_wdt_en bit and the
(0x34) i2c_wdt_sel bit are functional in deep-suspend mode. Equally the interrupt level and
driver configuration registers (0x20) int1_lvl, (0x20) int1_od, (0x20) int2_lvl, and (0x20) int2_od
are accessible. Still it is possible to enter normal mode by performing a softreset as described in
chapter 4.8. Please note, that all application specific settings which are not equal to the default
settings (refer to 6.2 register map), must be re-set to its designated values after leaving deep-
suspend mode.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
In suspend mode the whole analog part is powered down. No data acquisition is performed.
While in suspend mode the latest acceleration data and the content of all configuration registers
are kept. 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 4.8.
Suspend mode is entered (left) by writing ´1´ (´0´) to the (0x11) suspend bit after bit (0x12)
lowpower_mode has been set to ‘0’. Although write access to registers is supported at the full
interface clock speed (SCL or SCK), a waiting period must be inserted between two
consecutive write cycles (please refer also to section 7.2.1).
In standby mode the analog part is powered down, while the digital part remains largely
operational. No data acquisition is performed. Reading and writing registers is supported
without any restrictions. The latest acceleration data and the content of all configuration
registers are kept. Standby mode is entered (left) by writing ´1´ (´0´) to the (0x11) suspend bit
after bit (0x12) lowpower_mode has been set to ‘1’. It is also possible to enter normal mode by
performing a softreset as described in chapter 4.8.
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 operation in
suspend mode. Low-power mode is entered (left) by writing ´1´ (´0´) to the (0x11) lowpower_en
bit with bit (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 essentially corresponds to operation in standby mode. Low-power
mode is entered (left) by writing ´1´ (´0´) to the (0x11) lowpower_en bit with bit (0x12)
lowpower_mode set to ‘1’.
The timing behaviour of the low-power modes 1 and 2 depends on the setting of the (0x12)
sleeptimer_mode bit. When (0x12) sleeptimer_mode is set to ‘0’, the event-driven time-base
mode (EDT) is selected. In EDT the duration of the wake-up phase depends on the number of
samples required by the enabled interrupt engines. If an interrupt is detected, the device stays
in the wake-up phase as long as the interrupt condition endures (non-latched interrupt), or until
the latch time expires (temporary interrupt), or until the interrupt is reset (latched interrupt). If no
interrupt is detected, the device enters the sleep phase immediately after the required number
of acceleration samples have been taken and an active interface access cycle has ended. The
EDT mode is 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.
BMA250E
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Note: Specifications within this document are subject to change without notice.
State
Sleep phase
Active phase
Sample
Sample
Sample
Sample
Sample
Sample
tSLEEP
t
Settle
Settle
Settle
Sample
tSLEEP
tACTIVE
Figure 3: Timing Diagram for low-power mode 1/2, EDT
When (0x12) sleeptimer_mode 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 tSLEEP is
defined as shown in Figure 4. The FIFO sampling time tSAMPLE is the sum of the sleep time tSLEEP
and the sensor data sampling time tSSMP. Since interrupt engines can extend the active phase to
exceed the sleep time tSLEEP, equidistant sampling is only guaranteed if the bandwidth has been
chosen such that 1/(2 * bw) = n * tSLEEP 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.
State
Sleep phase
Active phase
Sample
Sample
Sample
Sample
Sample
Sample
t
Settle
Settle
Settle
Sample
Settle
Sample
tSLEEP tSLEEP tSLEEP
tSAMPLE tSAMPLE tSAMPLE
Sampled into FIFO
tSSMP
Figure 4: Timing Diagram for low-power mode 1/2, EST
BMA250E
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Note: Specifications within this document are subject to change without notice.
The sleep time for lower-power mode 1 and 2 is set by the (0x11) sleep_dur bits as shown in
the following table:
Table 3: Sleep phase duration settings
(0x11)
sleep_dur
Sleep Phase
Duration
tsleep
0000b
0.5ms
0001b
0.5ms
0010b
0.5ms
0011b
0.5ms
0100b
0.5ms
0101b
0.5ms
0110b
1ms
0111b
2ms
1000b
4ms
1001b
6ms
1010b
10ms
1011b
25ms
1100b
50ms
1101b
100ms
1110b
500ms
1111b
1s
The current consumption of the BMA250E in low-power mode 1 (IDDlp1) and low-power mode 2
(IDDlp2) can be estimated with the following formulae:
activesleep
DDactiveDDsumsleep
DDlp tt
ItIt
I
1
.
activesleep
DDactiveDDsbmsleep
DDlp tt
ItIt
I
2
When estimating the length of the wake-up phase tactive, the corresponding typical wake-up time,
tw,up1 or tw,up2 and tut (given in Table 4) have to be considered:
If bandwidth is >=31.25 Hz:
tactive = tut + tw,up1 - 0.9 ms (or tactive = tut + tw,up2 - 0.9 ms)
else:
tactive = 4 tut + tw,up1 - 0.9 ms (or tactive = 4 tut + tw,up2 - 0.9 ms)
During the wake-up phase all analog modules are held powered-up, while during the sleep
phase most analog modules are powered down. Consequently, a wake-up time of at least tw,up1
(tw,up2) is needed to settle the analog modules so that reliable acceleration data are generated.
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Note: Specifications within this document are subject to change without notice.
4.3 Sensor data
4.3.1 Acceleration data
The width of acceleration data is 10 bits given in two´s complement representation. The 10 bits
for each axis are split into an MSB upper part (one byte containing bits 9 to 2) and an LSB
lower part (one byte containing bits 2 to 0 of acceleration and a (0x02, 0x04, 0x06) new_data
flag). Reading the acceleration data registers shall always start with the LSB part. In order to
ensure the integrity of the acceleration data, the content of an MSB register is locked by reading
the corresponding LSB register (shadowing procedure). When 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 (0x02, 0x04, 0x06)
new_data flag of each LSB register is set if the data registers have been updated. The flag is
reset if either the corresponding MSB or LSB part is read.
Two different streams of acceleration data are available, unfiltered and filtered. The unfiltered
data is sampled with 2kHz. The sampling rate of the filtered data depends on the selected filter
bandwidth and is always twice the selected bandwidth (BW = ODR/2). Which kind of data is
stored in the acceleration data registers depends on bit (0x13) data_high_bw. If (0x13)
data_high_bw is ´0´ (´1´), then filtered (unfiltered) data is stored in the registers. Both data
streams are offset-compensated.
The bandwidth of filtered acceleration data is determined by setting the (0x10) bw bit as
followed:
Table 4: Bandwidth configuration
bw
Bandwidth
Update Time
tut
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 to be compatible with future
products.
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Note: Specifications within this document are subject to change without notice.
The BMA250E supports four different acceleration measurement ranges. A measurement range
is selected by setting the (0x0F) range bits as follows:
Table 5: Range selection
Range
Acceleration
measurement
range
Resolution
0011
±2g
3.91mg/LSB
0101
±4g
7.81mg/LSB
1000
±8g
15.63mg/LSB
1100
±16g
31.25mg/LSB
others
reserved
-
4.3.2 Temperature sensor
The width of temperature data is 8 bits given in two´s complement representation. Temperature
values are available in the (0x08) temp register.
The slope of the temperature sensor is 0.5K/LSB, its center temperature is 23°C [(0x08) temp =
0x00].
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Note: Specifications within this document are subject to change without notice.
4.4 Self-test
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 (0x32) self_test_axis bits (´01b´ for x-
axis, ´10b´ for y-axis, ´11b´ for z-axis, ´00b´ to deactivate self-test). It is possible to control the
direction of the deflection through bit (0x32) self_test_sign. The excitation occurs in negative
(positive) direction if (0x32) self_test_sign = ´0b´ (´1b´). The amplitude of the deflection has to
be set high by writing (0x32) self_test_amp=´1b´. After the self-test is enabled, the user should
wait 50ms before interpreting the acceleration data.
In order to ensure a proper interpretation of the self-test signal it is recommended to perform the
self-test for both (positive and negative) directions and then to calculate the difference of the
resulting acceleration values. Table 6 shows the minimum differences for each axis. The
actually measured signal differences can be significantly larger.
Table 6: 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 50ms, enable
desired interrupts.
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4.5 Offset compensation
Offsets in measured signals can have several causes but they are always unwanted and
disturbing in many cases. Therefore, the BMA250E 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 unfiltered data, and is then applied to both, unfiltered and
filtered data. If necessary the result of this computation is saturated to prevent any overflow
errors (the smallest or biggest possible value is set, depending on the sign). However, the
registers used to read and write compensation values have only a width of 8 bits.
An overview of the offset compensation principle is given in figure 5:
Figure 5: Principle of offset compensation
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The public offset compensation registers (0x38) offset_x, (0x39) offset_y, (0x3A) offset_z are
images of the corresponding registers in the NVM. With each image update (see section 4.6
Non-volatile memory for details) the contents of the NVM registers are written to the public
registers. The public registers can be over-written by the user at any time. After changing the
contents of the public registers by either an image update or manually, all 8bit values are
extended to 10bit values for internal computation. In the opposite direction, if an internally
computed value changes it is converted to an 8bit value and stored in the public register.
Depending on the selected g-range the conversion from 10bit 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 (0x36) offset_reset bit, all offset compensation registers are reset to zero.
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Note: Specifications within this document are subject to change without notice.
4.5.1 Slow compensation
Slow compensation is based on a 1st 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 (0x37) cut_off according to Table 7Fehler! Verweisquelle konnte
nicht gefunden werden..
Table 7: Compensation period settings
(0x37)
cut_off
high-pass filter
bandwidth
Example
bw = 500 Hz
0b
1b
*bw: please insert selected decimal data bandwidth value [Hz] from table 4
The slow compensation can be enabled (disabled) for each axis independently by setting the
bits (0x36) hp_x_en, hp_y_en, hp_z_en to ´1´ (´0´), respectively.
Slow compensation should not be used in combination with low-power mode. In low-power
mode the conditions (availability of necessary data) for proper function of slow compensation
are not fulfilled.
4.5.2 Fast compensation
Fast compensation is a one-shot process by which the compensation value is set in such a way
that when added to the raw acceleration, the resulting acceleration value of each axis
approaches the target value. This is best suited for end-of-line trimming” with the customer’s
device positioned in a well-defined orientation. For fast compensation the g-range has to be
switched to 2g.
The algorithm in detail: An average of 16 consecutive acceleration values is computed and the
difference between target value and computed value is written to (0x38, 0x39, 0x3A)
offset_filt_x/y/z. The public registers (0x38, 0x39, 0x3A) offset_filt_x/y/z are updated with the
contents of the internal registers (using saturation if necessary) and can be read by the user.
Fast compensation is triggered for each axis individually by setting the (0x36) cal_trigger bits as
shown in Table 8:
Table 8: Fast compensation axis selection
(0x36)
cal_trigger
Selected Axis
00b
none
01b
x
10b
y
11b
z
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Register (0x36) cal_trigger is a write-only register. Once triggered, the status of the fast
correction process is reflected in the status bit (0x36) cal_rdy. Bit (0x36) cal_rdy is ‘0’ while the
correction is in progress. Otherwise it is ‘1’. Bit (0x36) cal_rdy is ´0´ when (0x36) cal_trigger is
not ´00´.
For the fast offset compensation, the compensation target can be chosen by setting the bits
(0x37) offset_target_x, (0x37) offset_target_y, and (0x37) offset_target_z according to Table 9:
Table 9: Offset target settings
(0x37)
offset_target_x/y/z
Target value
00b
0g
01b
+1g
10b
-1g
11b
0g
Fast compensation should not be used in combination with any of the low-power modes. In low-
power mode the conditions (availability of necessary data) for proper function of fast
compensation are not fulfilled.
4.5.3 Manual compensation
The contents of the public compensation registers (0x38, 0x39, 0x3A) offset_filt_x/y/z can be
set manually via the digital interface. It is recommended to write into these registers directly
after a new data interrupt has occurred in order not to disturb running offset computations.
Writing to the offset compensation registers is not allowed while the fast compensation
procedure is running.
4.5.4 Inline calibration
For certain applications, it is often desirable to calibrate the offset once and to store the
compensation values permanently. This can be achieved by using one of the aforementioned
offset compensation methods to determine the proper compensation values and then storing
these values permanently in the NVM. See section 4.6 Non-volatile memory 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.
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4.6 Non-volatile memory
The entire memory of the BMA250E consists of three different kinds of registers: hard-wired,
volatile, and non-volatile. Part of it can be both read and written by the user. Access to non-
volatile memory is only possible through (volatile) image registers.
Altogether, there are eight registers (octets) with NVM backup which are accessible by the user.
The addresses of the image registers range from 0x38 to 0x3C. While the addresses up to
0x3A are used for offset compensation (see 4.4 Offset Compensation), addresses 0x3B and
0x3C are general purpose registers not linked to any sensor-specific functionality.
The content of the NVM is loaded to the image registers after a reset (either POR or softreset)
or after a user request which is performed by writing ´1´ to the write-only bit (0x33) nvm_load.
As long as the image update is in progress, bit (0x33) nvm_rdy is ´0´, otherwise it is ´1´.
The image registers can be read and written like any other register.
Writing to the NVM is a three-step procedure:
1. Write the new contents to the image registers.
2. Write ´1´ to bit (0x33) nvm_prog_mode in order to unlock the NVM.
3. Write ´1´ to bit (0x33) nvm_prog_trig and keep ´1´ in bit (0x33) nvm_prog_mode in order
to trigger the write process.
Writing to the NVM always renews the entire NVM contents. It is possible to check the write
status by reading bit (0x33) nvm_rdy. While (0x33) nvm_rdy = ´0´, the write process is still in
progress; if (0x33) nvm_rdy = ´1´, then writing is completed. As long as the write process is
ongoing, no change of power mode and image registers is allowed. Also, the NVM write cycle
must not be initiated while image registers are updated, in low-power mode, and in suspend
mode.
Please note that the number of permitted NVM write-cycles is limited as specified in Table 1.
The number of remaining write-cycles can be obtained by reading bits (0x33) nvm_remain.
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4.7 Interrupt controller
The BMA250E 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
BMA250E 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.
4.7.1 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 (0x21) latch_int bits according to Table 10.
Table 10: Interrupt mode selection
(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, 250µs
1010b
temporary, 500µs
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 INT1 and/or INT2) are cleared as soon as the
activation condition is no more valid. Exceptions to this behavior are the new data, orientation,
and flat interrupts, which are automatically reset after a fixed time.
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In latched mode an asserted interrupt status and the selected pin are cleared by writing ´1´ to
bit (0x21) reset_int. If the activation condition still holds when it is cleared, the interrupt status is
asserted again with the next change of the acceleration registers.
In the temporary mode an asserted interrupt and selected pin are cleared after a defined period
of time. 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 1).
internal signal from
interrupt engine
interrupt output
non-latched
temporary
latched
latch period
Figure 6: Interrupt modes
Several interrupt engines can use either unfiltered or filtered acceleration data as their input. For
these interrupts, the source can be selected with the bits in register (0x1E). These are (0x1E)
int_src_data, (0x1E) int_src_tap, (0x1E) int_src_slo_no_mot, (0x1E) int_src_slope, (0x1E)
int_src_high, and (0x1E) int_src_low. Setting the respective bits to ´0´ (´1´) selects filtered
(unfiltered) data as input. The orientation recognition and flat detection interrupt always use
filtered input data.
It is strongly recommended to set interrupt parameters prior to enabling the interrupt. Changing
parameters of an already enabled interrupt may cause unwanted interrupt generation and
generation of a false interrupt history. A safe way to change parameters of an enabled interrupt
is to keep the following sequence: disable the desired interrupt, change parameters, wait for at
least 10ms, and then re-enable the desired interrupt.
4.7.2 Mapping to physical interrupt pins (inttype to INT Pin#)
Registers (0x19) to (0x1B) are dedicated to mapping of interrupts to the interrupt pins INT1” or
“INT2”. Setting (0x19) int1_”inttype to ´1´ 0´) maps (unmaps) “inttype to pin INT1.
Correspondingly setting (0x1B) int2_”inttype” to ´1´ (´0´) maps (unmaps) “inttype” to pin “INT2.
Note: “inttype” to be replaced with the precise notation, given in the memory map in chapter 6.
Example: For flat interrupt (int1_flat): Setting (0x19) int1_flat to ´1´ maps int1_flat to pin INT1.
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4.7.3 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 (0x20) int1_lvl and (0x20) int2_lvl bits.
If (0x20) int1_lvl = ´1´ (´0´) / (0x20) int2_lvl = ´1´ (´0´), then pin INT1 / pin INT2 is active ´1´
(´0´). The characteristic of the output driver of the interrupt pins may be configured with bits
(0x20) int1_od and (0x20) int2_od. By setting bits (0x20) int1_od / (0x20) int2_od to ´1´, the
output driver shows open-drive characteristic, by setting the configuration bits to ´0´, the output
driver shows push-pull characteristic. When open-drive characteristic is selected in the design,
external pull-up or pull-down resistor should be applied according the int_lvl configuration.
4.7.4 New data interrupt
This interrupt serves for synchronous reading of acceleration data. It is generated after storing a
new value of z-axis acceleration data in the data register. The interrupt is cleared automatically
when the next data acquisition cycle starts. The interrupt status is ´0´ for at least 50µs.
The interrupt mode of the new data interrupt is fixed to non-latched.
It is enabled (disabled) by writing ´1´ (´0´) to bit (0x17) data_en. The interrupt status is stored in
bit (0x0A) data_int.
Due to the settling time of the filter, the first interrupt after wake-up from suspend or standby
mode will take longer than the update time.
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slope_th
INT
slope
acceleration
acc(t0)
acc(t0−1/(2*bw))
slope(t0)=acc(t0)−acc(t0−1/(2*bw))
time
time
time
slope_dur
slope_dur
4.7.5 Slope / any-motion detection
Slope / any-motion detection uses the slope between successive acceleration signals to detect
changes in motion. An interrupt is generated when the slope (absolute value of acceleration
difference) exceeds a preset threshold. It is cleared as soon as the slope falls below the
threshold. The principle is made clear in figure 7.
Figure 7: Principle of any-motion detection
The threshold is defined through register (0x28) slope_th. In terms of scaling 1 LSB of (0x28)
slope_th corresponds to 3.91 mg in 2g-range (7.81 mg in 4g-range, 15.6 mg in 8g-range and
31.3 mg in 16g-range). Therefore the maximum value is 996 mg in 2g-range (1.99g in 4g-
range, 3.98g in 8g-range and 7.97g in 16g-range).
The time difference between the successive acceleration signals depends on the selected
bandwidth and equates to 1/(2*bandwidth) (t=1/(2*bw)). In order to suppress false triggers, the
interrupt is only generated (cleared) if a certain number N of consecutive slope data points is
larger (smaller) than the slope threshold given by (0x28) slope_th. This number is set by the
(0x27) slope_dur bits. It is N = (0x27) slope_dur + 1 for (0x27).
Example: (0x27) slope_dur = 00b, …, 11b = 1decimal, …, 4decimal.
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Note: Specifications within this document are subject to change without notice.
4.7.5.1 Enabling (disabling) for each axis
Any-motion detection can be enabled (disabled) for each axis separately by writing ´1´ (´0´) to
bits (0x16) slope_en_x, (0x16) slope_en_y, (0x16) slope_en_z. The criteria for any-motion
detection are fulfilled and the slope interrupt is generated if the slope of any of the enabled axes
exceeds the threshold (0x28) slope_th for [(0x27) slope_dur +1] consecutive times. As soon as
the slopes of all enabled axes fall or stay below this threshold for [(0x27) slope_dur +1]
consecutive times the interrupt is cleared unless interrupt signal is latched.
4.7.5.2 Axis and sign information of slope / any motion interrupt
The interrupt status is stored in bit (0x09) slope_int. The any-motion interrupt supplies additional
information about the detected slope. The axis which triggered the interrupt is given by that one
of bits (0x0B) slope_first_x, (0x0B) slope_first_y, (0x0B) slope_first_z that contains a value of
´1´. The sign of the triggering slope is held in bit (0x0B) slope_sign until the interrupt is
retriggered. If (0x0B) slope_sign = ´0´ (´1´), the sign is positive (negative).
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Note: Specifications within this document are subject to change without notice.
4.7.6 Tap sensing
Tap sensing has a functional similarity with a common laptop touch-pad or clicking keys of a
computer mouse. A tap event is detected if a pre-defined slope of the acceleration of at least
one axis is exceeded. Two different tap events are distinguished: A ‘single tap’ is a single event
within a certain time, followed by a certain quiet time. A double tap’ consists of a first such
event followed by a second event within a defined time frame.
Single tap interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (0x16) s_tap_en. Double tap
interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (0x16) d_tap_en.
While temporary latching is used do not simultaneously enable single tap interrupt and double
tap interrupt.
The status of the single tap interrupt is stored in bit (0x09) s_tap_int, the status of the double
tap interrupt is stored in bit (0x09) d_tap_int.
The slope threshold for detecting a tap event is set by bits (0x2B) tap_th. The meaning of
(0x2B) tap_th depends on the range setting. 1 LSB of (0x2B) tap_th corresponds to a slope of
62.5mg in 2g-range, 125mg in 4g-range, 250mg in 8g-range, and 500mg in 16g-range.
In figure 8 the meaning of the different timing parameters is visualized:
tap_shock tap_quiet tap_dur
tap_shock tap_quiet
time
12.5 ms
single tap detection
double tap detection
slope
time
12.5 ms
time
1st tap 2nd tap
tap_th
Figure 8: Timing of tap detection
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The parameters (0x2A) tap_shock and (0x2A) tap_quiet apply to both single tap and double tap
detection, while (0x2A) tap_dur applies to double tap detection only. Within the duration of
(0x2A) tap_shock any slope exceeding (0x2B) tap_th after the first event is ignored. Contrary to
this, within the duration of (0x2A) tap_quiet no slope exceeding (0x2B) tap_th must occur,
otherwise the first event will be cancelled.
4.7.6.1 Single tap detection
A single tap is detected and the single tap interrupt is generated after the combined durations of
(0x2A) tap_shock and (0x2A) tap_quiet, if the corresponding slope conditions are fulfilled. The
interrupt is cleared after a delay of 12.5 ms.
Do not map single-tap to any INT pin if you do not want to use it.
4.7.6.2 Double tap detection
A double tap interrupt is generated if an event fulfilling the conditions for a single tap occurs
within the set duration in (0x2A) tap_dur after the completion of the first tap event. The interrupt
is automatically cleared after a delay of 12.5 ms.
4.7.6.3 Selecting the timing of tap detection
For each of parameters (0x2A) tap_shock and (0x2A) tap_quiet two values are selectable. By
writing ´0´ 1´) to bit (0x2A) tap_shock the duration of (0x2A) tap_shock is set to 50 ms (75
ms). By writing ´0´ (´1´) to bit (0x2A) tap_quiet the duration of (0x2A) tap_quiet is set to 30 ms
(20 ms).
The length of (0x2A) tap_dur can be selected by setting the (0x2A) tap_dur bits according to
Table 11
Table 11: Selection of tap_dur
(0x2A)
tap_dur
length of tap_dur
000b
50 ms
001b
100 ms
010b
150 ms
011b
200 ms
100b
250 ms
101b
375 ms
110b
500 ms
111b
700 ms
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Note: Specifications within this document are subject to change without notice.
4.7.6.4 Axis and sign information of tap sensing
The sign of the slope of the first tap which triggered the interrupt is stored in bit (0x0B) tap_sign
(´0´ means positive sign, ´1´ means negative sign). The value of this bit persists after clearing
the interrupt.
The axis which triggered the interrupt is indicated by bits (0x0B) tap_first_x, (0x0B) tap_first_y,
and (0x0B) tap_first_z.
The bit corresponding to the triggering axis contains a ´1´ while the other bits hold a ´0´. These
bits are cleared together with clearing the interrupt status.
4.7.6.5 Tap 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 (0x2B) tap_samp
according to Table 12.
Table 12: Meaning of (0x2B) tap_samp
(0x2B)
tap_samp
Number of Samples
00b
2
01b
4
10b
8
11b
16
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4.7.7 Orientation recognition
The orientation recognition feature informs on an orientation change of the sensor with respect
to the gravitational field vector ‘g’. The measured acceleration vector components with respect
to the gravitational field are defined as shown in figure 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 (0x0C) orient bits. These bits may not be reset in
the sleep phase of low-power mode. There are three orientation calculation modes with different
thresholds for switching between different orientations: symmetrical, high-asymmetrical, and
low-asymmetrical. The mode is selected by setting the (0x2C) orient_mode bits as given in
Table 13.
Table 13: Orientation mode settings
(0x2C)
orient_mode
Orientation Mode
00b
symmetrical
01b
high-asymmetrical
10b
low-asymmetrical
11b
symmetrical
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For each orientation mode the (0x0C) orient bits have a different meaning as shown in Table 14
to Table 16:
Table 14: Meaning of the (0x0C) orient bits in symmetrical mode
(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° < < 22
|acc_y| < |acc_x| - ‘hyst’
and acc_x + ‘hyst’ < 0
x10
landscape left
45° < < 13
|acc_y| ≥ |acc_x| + ‘hyst
and acc_y < 0
x11
landscape right
225° < < 315°
|acc_y| ≥ |acc_x| + ‘hyst
and acc_y ≥ 0
Table 15: Meaning of the (0x0C) orient bits in high-asymmetrical mode
(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° < < 24
|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 16: Meaning of the (0x0C) orient bits in low-asymmetrical mode
(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 (0x2C) orient_hyst bits. 1 LSB of (0x2C) orient_hyst always corresponds to 62.5 mg,
in any g-range (i.e. increment is independent from g-range setting). It is important to note that
by using a hysteresis 0 the actual switching angles become different from the angles given in
the tables since there is an overlap between the different orientations.
The most significant bit of the (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).
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Figure 10 shows the typical switching conditions between the four different orientations for the
symmetrical mode i.e. without hysteresis:
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
0 45 90 135 180 225 270 315 360
phi
acc_y/acc_x
acc_x/sin(theta)
acc_y/sin(theta)
portrait upright landscape left portrait upside
down
landscape right portrait upright
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
0 45 90 135 180 225 270 315 360
acc_y/acc_x
acc_x/sin(theta)
acc_y/sin(theta)
portrait upright landscape left portrait upside
down
landscape right portrait upright
Figure 10: Typical orientation switching conditions w/o hysteresis
The orientation interrupt is enabled (disabled) by writing ´1´ (´0´) to bit (0x16) orient_en. The
interrupt is generated if the value of (0x0C) orient has changed. It is automatically cleared after
one stable period of the (0x0C) orient value. The interrupt status is stored in the (0x09)
orient_int bit. The register (0x0C) orient always reflects the current orientation of the device,
irrespective of which interrupt mode has been selected. Bit (0x0C) orient<2> reflects the device
orientation with respect to the z-axis. The bits (0x0C) orient<1:0> reflect the device orientation
in the x-y-plane. The conventions associated with register (0x0C) orient are detailed in chapter
6.
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4.7.7.1 Orientation blocking
The change of the (0x0C) orient value and as a consequence the generation of the interrupt
can be blocked according to conditions selected by setting the value of the (0x2C)
orient_blocking bits as described by Table 17.
Table 17: Blocking conditions for orientation recognition
(0x2C)
orient_blocking
Conditions
00b
no blocking
01b
theta blocking
or
acceleration in any axis > 1.5g
10b
theta blocking
or
acceleration slope in any axis > 0.2 g
or
acceleration in any axis > 1.5g
11b
theta blocking
or
acceleration slope in any axis > 0.4 g
or
acceleration in any axis > 1.5g and value of orient is
not stable for at least 100 ms
The theta blocking is defined by the following inequality:
.
8
_
tan thetablocking
The parameter blocking_theta of the above given equation stands for the contents of the (0x2D)
orient_theta bits. It is possible to define a blocking angle between and 44.8°. The internal
blocking algorithm saturates the acceleration values before further processing. As a
consequence, the blocking angles are strictly valid only for a device at rest; they can be
different if the device is moved.
Example:
To get a maximum blocking angle of 19° the parameter blocking_theta is determined in the
following way: (8 * tan(19°) )² = 7.588, therefore, blocking_value = 8dec = 001000b has to be
chosen.
In order to avoid unwanted generation of the orientation interrupt in a nearly flat position (z ~ 0,
sign change due to small movements or noise), a hysteresis of 0.2 g is implemented for the z-
axis, i. e. a after a sign change the interrupt is only generated after |z| > 0.2 g.
4.7.7.2 Up-Down Interrupt Suppression Flag
Per default an orientation interrupt is triggered when any of the bits in register (0x0C) orient
changes state. The BMA250E can be configured to trigger orientation interrupts only when the
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device position changes in the x-y-plane while orientation changes with respect to the z-axis are
ignored. A change of the orientation of the z-axis, and hence a state change of bit (0x0C)
orient<2> is ignored (considered) when bit (0x2D) orient_ud_en is set to ‘0’ (‘1’).
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4.7.8 Flat detection
The flat detection feature gives information about the orientation of the devices´ z-axis relative
to the g-vector, i. e. it recognizes whether the device is in a flat position or not.
The flat angle is adjustable by (0x2E) flat_theta from 0° to 44.8°. The flat angle can be set
according to following formula:
flat_theta
8
1
atan
A hysteresis of the flat detection can be enabled by (0x2F) flat_hy bits. In this case the flat
position is set if the angle drops below following threshold:
16
_
1024
_
1flat_theta
8
1
atan
,hyflathyflat
llhyst
The flat position is reset if the angle exceeds the following threshold:
16
_
1024
_
1flat_theta
8
1
atan
,hyflathyflat
ulhyst
The flat interrupt is enabled (disabled) by writing ´1´ 0´) to bit (0x16) flat_en. The flat value is
stored in the (0x0C) flat bit if the interrupt is enabled. This value is ´1´ if the device is in the flat
position, it is ´0´ otherwise. The flat interrupt is generated if the flat value has changed and the
new value is stable for at least the time given by the (0x2F) flat_hold_time bits. A flat interrupt
may be also generated if the flat interrupt is enabled. The actual status of the interrupt is stored
in the (0x09) flat_int bit. The flat orientation of the sensor can always be determined from
reading the (0x0C) flat bit after interrupt generation. If unlatched interrupt mode is used, the
(0x09) flat_int value and hence the interrupt is automatically cleared after one sample period. If
temporary or latched interrupt mode is used, the (0x09) flat_int value is kept fixed until the latch
time expires or the interrupt is reset.
The meaning of the (0x2F) flat_hold_time bits can be seen from Table 18.
Table 18: Meaning of flat_hold_time
(0x2F)
flat_hold_time
Time
00b
0
01b
512 ms
10b
1024 ms
11b
2048 ms
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4.7.9 Low-g interrupt
This interrupt is based on the comparison of acceleration data against a low-g threshold, which
is most useful for free-fall detection.
The interrupt is enabled (disabled) by writing ´1´ (´0´) to the (0x17) low_en bit. There are two
modes available, ‘single’ mode and ‘sum’ mode. In ‘single’ mode, the acceleration of each axis
is compared with the threshold; in sum’ mode, the sum of absolute values of all accelerations
|acc_x| + |acc_y| + |acc_z| is compared with the threshold. The mode is selected by the
contents of the (0x24) low_mode bit: ´0´ means ‘single’ mode, ´1´ means ‘sum’ mode.
The low-g threshold is set through the (0x23) low_th register. 1 LSB of (0x23) low_th always
corresponds to an acceleration of 7.81 mg (i.e. increment is independent from g-range setting).
A hysteresis can be selected by setting the (0x24) low_hy bits. 1 LSB of (0x24) low_hy always
corresponds to an acceleration difference of 125 mg in any g-range (as well, increment is
independent from g-range setting).
The low-g interrupt is generated if the absolute values of the acceleration of all axes (´and´
relation, in case of single mode) or their sum (in case of sum mode) are lower than the
threshold for at least the time defined by the (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 plus the
hysteresis for at least one data acquisition. In bit (0x09) low_int the interrupt status is stored.
The relation between the content of (0x22) low_dur and the actual delay of the interrupt
generation is: delay [ms] = [(0x22) low_dur + 1] 2 ms. Therefore, possible delay times range
from 2 ms to 512 ms.
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4.7.10 High-g interrupt
This interrupt is based on the comparison of acceleration data against a high-g threshold for the
detection of shock or other high-acceleration events.
The high-g interrupt is enabled (disabled) per axis by writing ´1´ (´0´) to bits (0x17) high_en_x,
(0x17) high_en_y, and (0x17) high_en_z, respectively. The high-g threshold is set through the
(0x26) high_th register. The meaning of an LSB of (0x26) high_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 (0x24) high_hy bits. Analogously to (0x26) high_th,
the meaning of an LSB of (0x24) high_hy is g-range dependent: It corresponds to an
acceleration difference of 125 mg in 2g-range, 250 mg in 4g-range, 500 mg in 8g-range, and
1000mg in 16g-range (as well, increment depends 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
(0x25) high_dur register. The interrupt is reset if the absolute value of the acceleration of all
enabled axes and´ relation) is lower than the threshold minus the hysteresis for at least the
time defined by the (0x25) high_dur register. In bit (0x09) high_int the interrupt status is stored.
The relation between the content of (0x25) high_dur and the actual delay of the interrupt
generation is delay [ms] = [(0x22) low_dur + 1] 2 ms. Therefore, possible delay times range
from 2 ms to 512 ms. The interrupt will be cleared immediately once acceleration is lower than
threshold.
4.7.10.1 Axis and sign information of high-g interrupt
The axis which triggered the interrupt is indicated by bits (0x0C) high_first_x, (0x0C)
high_first_y, and (0x0C) high_first_z. The bit corresponding to the triggering axis contains a ´1´
while the other bits hold a ´0´. These bits are cleared together with clearing the interrupt status.
The sign of the triggering acceleration is stored in bit (0x0C) high_sign. If (0x0C) high_sign = ´0´
(´1´), the sign is positive (negative).
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4.7.11 No-motion / slow motion detection
The slow-motion/no-motion interrupt engine can be configured in two modes.
In slow-motion mode an interrupt is triggered when the measured slope of at least one enabled
axis exceeds the programmable slope threshold for a programmable number of samples.
Hence the engine behaves similar to the any-motion interrupt, but with a different set of
parameters. In order to suppress false triggers, the interrupt is only generated (cleared) if a
certain number N of consecutive slope data points is larger (smaller) than the slope threshold
given by (0x27) slo_no_mot_dur<1:0>. The number is N = (0x27) slo_no_mot_dur<1:0> + 1.
In no-motion mode an interrupt is generated if the slope on all selected axes remains smaller
than a programmable threshold for a programmable delay time. Figure 11 shows the timing
diagram for the no-motion interrupt. The scaling of the threshold value is identical to that of the
slow-motion interrupt. However, in no-motion mode register (0x27) slo_no_mot_dur defines the
delay time before the no-motion interrupt is triggered. Table 19 lists the delay times adjustable
with register (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 (0x18) slo_no_mot_sel is set to 1 (‘0’) the no-motion/slow-motion interrupt engine is
configured in the no-motion (slow-motion) mode. Common to both modes, the engine monitors
the slopes of the axes that have been enabled with bits (0x18) slo_no_mot_en_x, (0x18)
slo_no_mot_en_y, and (0x18) slo_no_mot_en_z for the x-axis, y-axis and z-axis, respectively.
The measured slope values are continuously compared against the threshold value defined in
register (0x29) slo_no_mot_th. The scaling is such that 1 LSB of (0x29) slo_no_mot_th
corresponds to 3.91 mg in 2g-range (7.81 mg in 4g-range, 15.6 mg in 8g-range and 31.3 mg in
16g-range). Therefore the maximum value is 996 mg in 2g-range (1.99g in 4g-range, 3.98g in
8g-range and 7.97g in 16g-range). The time difference between the successive acceleration
samples depends on the selected bandwidth and equates to 1/(2 * bw).
Table 19: No-motion time-out periods
(0x27)
slo_no_mot_dur
Delay
time
(0x27)
slo_no_mot_dur
Delay
time
(0x27)
slo_no_mot_dur
Delay
Time
0
1 s
16
40 s
32
88 s
1
2 s
17
48 s
33
96 s
2
3 s
18
56 s
34
104 s
...
...
19
64 s.
...
...
14
15 s
20
72 s
62
328 s
15
16 s
21
80 s
63
336 s
Note: slo_no_mot_dur values 22 to 31 are not specified
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
acceleration
slo_no_mot_th
-slo_no_mot_th
slope
time
axis x, y, or z
axis x, y, or z
slo_no_mot_dur
timer
INT
slope(t0+Δt)= acc(t0+Δt) - acc(t0)
acc(t0+Δt)
acc(t0)
Figure 11: Timing of No-motion interrupt
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
4.8 Softreset
A softreset causes all user configuration settings to be overwritten with their default value and
the sensor to enter normal mode.
A softreset is initiated by means of writing value 0xB6 to register (0x14) softreset. Subsequently
a waiting time of tw,up1 (max.) is required prior to accessing any configuration registers.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
5. FIFO Operation
5.1 FIFO Operating Modes
The BMA250E features an integrated FIFO memory capable of storing up to 32 frames.
Conceptually each frame consists of three 16 bit words corresponding to the x, y and z- axis,
which are sampled at the same point in time. At the core of the FIFO is a buffer memory, which
can be configured to operate in the following modes:
FIFO Mode: In FIFO mode the acceleration data of the selected axes are stored in the
buffer memory. If enabled, a watermark interrupt is triggered when the buffer has filled
up to a configurable level. The buffer will be continuously filled until the fill level reaches
32 frames. When it is full the data collection is stopped, and all additional samples are
ignored. Once the buffer is full, a FIFO-full interrupt is generated if it has been enabled.
STREAM Mode: In STREAM mode the acceleration data of the selected axes are
stored in the buffer until it is full. The buffer has a depth of 31 frames. When the buffer is
full the data collection continues and oldest entry is discarded. If enabled, a watermark
interrupt is triggered when the buffer is filled to a 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 (0x3E) fifo_mode according to 00b’
for BYPASS mode, ‘01b’ for FIFO mode, and 10b’ for STREAM mode. Writing to register
(0x3E) clears the buffer content and resets the FIFO-full and watermark interrupts. When
reading register (0x3E) fifo_mode always contains the current operating mode.
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
5.2 FIFO Data Readout
The FIFO stores the data that are also available at the acceleration read-out registers (0x02) to
(0x07). Thus, all configuration settings apply to the FIFO data as well as the acceleration data
readout registers. The FIFO read out is possible through register (0x3F). The readout can be
performed using burst mode since the read address counter is no longer incremented, when it
has reached address (0x3F). This implies that the trapping also occurs when the burst read
access starts below address (0x3F). A single burst can read out one or more frames at a time.
Register (0x3E) fifo_data_select controls the acceleration data of which axes are stored in the
FIFO. Possible settings for register (0x3E) fifo_data_select are ‘00b’ for x, y- and z-axis, ‘01b’
for x-axis only, ‘10b’ for y-axis, 11b’ for z-axis only. The depth of the FIFO is independent of
whether all or a single axis have been selected. Writing to register (0x3E) clears the buffer
content and resets the FIFO-full and watermark interrupts.
If all axes are enabled, the format of the data read-out from register (0x3F) is as follows:
If only one axis is enabled, the format of the data read-out from register (0x3F) is as follows
(example shown: y-axis only, other axes are equivalent).
If a frame is not completely read due to an incomplete read operation, the remaining part of the
frame is discarded. In this case the FIFO aligns to the next frame during the next read
operation. In order for the discarding mechanism to operate correctly, there must be a delay of
at least 1.5 us between the last data bit of the partially read frame and the first address bit of the
next FIFO read access. Otherwise frames must not be read out partially.
If the FIFO is read beyond the FIFO fill level zeroes (0) will be read. If the FIFO is read beyond
the FIFO fill level the read or burst read access time must not exceed the sampling time tSAMPLE.
Otherwise frames may be lost.
5.3 FIFO Frame Counter and Overrun Flag
Register (0x0E) fifo_frame_counter reflects the current fill level of the buffer. If additional frames
are written to the buffer although the FIFO is full, the (0x0E) fifo_overrun bit is set to ‘1’. The
FIFO buffer is cleared, the FIFO fill level indicated in register (0x0E) fifo_frame_counter and the
(0x0E) fifo_overrun bit are both set to 0’ each time one a write access to one of the FIFO
configuration registers (0x3E) or (0x30) occurs. The (0x0E) fifo_overrun bit is not reset when
the FIFO fill level (0x0E) fifo_frame_counter has decremented to ‘0’ due to reading from register
(0x3F).
Frame 1
Y LSB
Y MSB
Y LSB
Y MSB
Frame 2
Frame 1
X LSB
X MSB
Y LSB
Y MSB
Z LSB
Z MSB
BMA250E
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
5.4 FIFO Interrupts
The FIFO controller can generate two different interrupt events, a FIFO-full and a watermark
event. The FIFO-full and watermark interrupts are functional in all FIFO operating modes. The
watermark interrupt is asserted when the fill level in the buffer has reached the frame count
defined by register (0x30) fifo_water_mark_trigger_retain. In order to enable (disable) the
watermark interrupt, the (0x17) int_fwm_en bit must be set to 1(‘0’). To map the watermark
interrupt signal to INT1 pin (INT2 pin), (0x1A) int1_fwm ((0x1A) int2_fwm) bit must be set to ‘1’.
The status of the watermark interrupt may be read back through the (0x0A) fifo_wm_int bit.
Writing to register (0x30) fifo_water_mark_trigger_retain clears the FIFO buffer.
The FIFO-full interrupt is triggered when the buffer has been completely filled. In FIFO mode
this occurs 32, in STREAM mode 31 samples, and in BYPASS mode 1 sample after the buffer
has been cleared. In order to enable the FIFO-full interrupt, bit (0x17) int_ffull_en as well as one
or both of bits (0x1A) int1_fful or (0x1A) int2_fful must also be set to ‘1’. The status of the FIFO-
full interrupt may be read back through bit (0x0A) fifo_full_int.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
6. Register description
6.1 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
(0x00) up to (0x3F). Within the used range there are several registers which are either
completely or partially marked as ‘reserved’. Any reserved bit is ignored when it is written and
no specific value is guaranteed when read. It is recommended not to use registers at all which
are completely marked as ‘reserved’. Furthermore it is recommended to mask out (logical and
with zero) reserved bits of registers which are partially marked as reserved.
Registers with addresses from (0x00) up to (0x0E) are read-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. (0x21) reset_int or the entire (0x14) softreset
register, and read as value ´0´.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
6.2 Register map
Register Address bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 Access Default
0x3F ro 0x00
0x3E w/r 0x00
0x3D w/r 0xFF
0x3C w/r 0x00
0x3B w/r 0x00
0x3A w/r 0x00
0x39 w/r 0x00
0x38 w/r 0x00
0x37 cut_off w/r 0x00
0x36 offset_reset cal_rdy hp_z_en hp_y_en hp_x_en w/r 0x10
0x35 w/r 0x00
0x34 i2c_wdt_en i2c_wdt_sel spi3 w/r 0x00
0x33 nvm_load nvm_rdy nvm_prog_trig nvm_prog_mode w/r 0xF0
0x32
self_test_amp self_test_sign w/r 0x00
0x31 w/r 0xFF
0x30 w/r 0x00
0x2F w/r 0x11
0x2E w/r 0x08
0x2D orient_ud_en w/r 0x48
0x2C w/r 0x18
0x2B w/r 0x0A
0x2A
tap_quiet tap_shock w/r 0x04
0x29 w/r 0x14
0x28 w/r 0x14
0x27 w/r 0x00
0x26 w/r 0xC0
0x25 w/r 0x0F
0x24 low_mode w/r 0x81
0x23 w/r 0x30
0x22 w/r 0x09
0x21 reset_int w/r 0x00
0x20 int2_od int2_lvl int1_od int1_lvl w/r 0x05
0x1F w/r 0xFF
0x1E int_src_data int_src_tap int_src_slo_no_mot int_src_slope int_src_high int_src_low w/r 0x00
0x1D w/r 0xFF
0x1C w/r 0xFF
0x1B int2_flat int2_orient int2_s_tap int2_d_tap int2_slo_no_mot int2_slope int2_high int2_low w/r 0x00
0x1A int2_data int2_fwm int2_ffull int1_ffull int1_fwm int1_data w/r 0x00
0x19 int1_flat int1_orient int1_s_tap int1_d_tap int1_slo_no_mot int1_slope int1_high int1_low w/r 0x00
0x18 slo_no_mot_sel slo_no_mot_en_z slo_no_mot_en_y slo_no_mot_en_x w/r 0x00
0x17
int_fwm_en int_ffull_en data_en low_en high_en_z high_en_y high_en_x w/r 0x00
0x16 flat_en orient_en s_tap_en d_tap_en slope_en_z slope_en_y slope_en_x w/r 0x00
0x15 w/r 0xFF
0x14 wo 0x00
0x13 data_high_bw shadow_dis w/r 0x00
0x12 lowpower_mode sleeptimer_mode w/r 0x00
0x11 suspend lowpower_en deep_suspend w/r 0x00
0x10 w/r 0x0F
0x0F w/r 0x03
0x0E
fifo_overrun ro 0x00
0x0D w/r 0xFF
0x0C flat high_sign high_first_z high_first_y high_first_x ro 0x00
0x0B tap_sign tap_first_z tap_first_y tap_first_x slope_sign slope_first_z slope_first_y slope_first_x ro 0x00
0x0A data_int
fifo_wm_int fifo_full_int ro 0x00
0x09 flat_int orient_int s_tap_int d_tap_int slo_no_mot_int slope_int high_int low_int ro 0x00
0x08 ro 0x00
0x07 ro 0x00
0x06 new_data_z ro 0x00
0x05 ro 0x00
0x04 new_data_y ro 0x00
0x03 ro 0x00
0x02 new_data_x ro 0x00
0x01 ro --
0x00 ro 0xF9
chip_id<7:0>
acc_y_msb<9:2>
acc_x_msb<9:2>
orient_blocking<1:0>
high_th<7:0>
slo_no_mot_dur<5:0>
tap_th<4:0>
orient_theta<5:0>
acc_z_msb<9:2>
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>
self_test_axis<1:0>
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>
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>
high_hy<1:0>
fifo_data_select<1:0>
flat_hold_time<1:0>
nvm_remain<3:0>
orient<2:0>
temp<7:0>
low_dur<7:0>
bw<4:0>
range<3:0>
softreset
latch_int<3:0>
sleep_dur<3:0>
fifo_frame_counter<6:0>
acc_z_lsb<1:0>
acc_y_lsb<1:0>
acc_x_lsb<1:0>
low_hy<1:0>
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.
Figure 12: Register map
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x00 (BGW_CHIPID)
The register contains the chip identification code.
Name
0x00
BGW_CHIPID
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
chip_id<7:4>
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
chip_id<3:0>
chip_id<7:0>: Fixed value b’1111’1001
Register 0x02 (ACCD_X_LSB)
The register contains the least-significant bits of the X-channel acceleration readout value.
When reading out X-channel acceleration values, data consistency is guaranteed if the
ACCD_X_LSB is read out before the ACCD_X_MSB and shadow_dis=’0’. In this case, after the
ACCD_X_LSB has been read, the value in the ACCD_X_MSB register is locked until the
ACCD_X_MSB has been read. This condition is inherently fulfilled if a burst-mode read access
is performed. Acceleration data may be read from register ACCD_X_LSB at any time except
during power-up and in DEEP_SUSPEND mode.
Name
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<1:0>
undefined
undefined
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<1:0>: Least significant 2 bits of acceleration read-back value; (two’s-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
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x03 (ACCD_X_MSB)
The register contains the most-significant bits of the X-channel acceleration readout value.
When reading out X-channel acceleration values, data consistency is guaranteed if the
ACCD_X_LSB is read out before the ACCD_X_MSB and shadow_dis=’0’. In this case, after the
ACCD_X_LSB has been read, the value in the ACCD_X_MSB register is locked until the
ACCD_X_MSB has been read. This condition is inherently fulfilled if a burst-mode read access
is performed. Acceleration data may be read from register ACCD_X_MSB at any time except
during power-up and in DEEP_SUSPEND mode.
Name
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<9:6>
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<5:2>
acc_x_msb<9:2>: Most significant 8 bits of acceleration read-back value (two’s-complement
format)
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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<1:0>
undefined
undefined
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
acc_y_lsb<1:0>: Least significant 2 bits of acceleration read-back value; (two’s-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
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x05 (ACCD_Y_MSB)
The register contains the most-significant bits of the Y-channel acceleration readout value.
When reading out Y-channel acceleration values, data consistency is guaranteed if the
ACCD_Y_LSB is read out before the ACCD_Y_MSB and shadow_dis=’0’. In this case, after the
ACCD_Y_LSB has been read, the value in the ACCD_Y_MSB register is locked until the
ACCD_Y_MSB has been read. This condition is inherently fulfilled if a burst-mode read access
is performed. Acceleration data may be read from register ACCD_Y_MSB at any time except
during power-up and in DEEP_SUSPEND mode.
Name
0x05
ACCD_Y_MSB
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
acc_y_msb<9:6>
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<5:2>
acc_y_msb<9:2>: Most significant 8 bits of acceleration read-back value (two’s-complement
format)
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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<1:0>
undefined
undefined
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<1:0>: Least significant 2 bits of acceleration read-back value; (two’s-complement
format)
undefined: random data; to be ignored
new_data_z: 0’: acceleration value has not been updated since it has been read out last
‚1’: acceleration value has been updated since it has been read out last
BMA250E
Data sheet
Page 55
BST-BMA250E-DS004-06 | Revision 1.3 | April 2015 Bosch Sensortec
© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x07 (ACCD_Z_MSB)
The register contains the most-significant bits of the Z-channel acceleration readout value.
When reading out Z-channel acceleration values, data consistency is guaranteed if the
ACCD_Z_LSB is read out before the ACCD_Z_MSB and shadow_dis=’0’. In this case, after the
ACCD_Z_LSB has been read, the value in the ACCD_Z_MSB register is locked until the
ACCD_Z_MSB has been read. This condition is inherently fulfilled if a burst-mode read access
is performed. Acceleration data may be read from register ACCD_Z_MSB at any time except
during power-up and in DEEP_SUSPEND mode.
Name
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<9:6>
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<5:2>
acc_z_msb<9:2>: Most significant 8 bits of acceleration read-back value (two’s-complement
format)
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x08 (ACCD_TEMP)
The register contains the current chip temperature represented in two’s complement format. A
readout value of temp<7:0>=0x00 corresponds to a temperature of 23°C.
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)
BMA250E
Data sheet
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© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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. The interrupt function associated with a specific status flag
must be enabled.
Name
0x09
INT_STATUS_0
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
flat_int
orient_int
s_tap_int
d_tap_int
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
slo_no_mot_int
slope_int
high_int
low_int
flat_int: flat interrupt status: ‘0’inactive, ‘1’ active
orient_int: orientation interrupt status: ‘0’inactive, ‘1’ active
s_tap_int: single tap interrupt status: ‘0’inactive, ‘1’ active
d_tap_int double tap interrupt status: ‘0’inactive, ‘1’ active
slo_not_mot_int: slow/no-motion interrupt status: ‘0’inactive, ‘1 active
slope_int: slope interrupt status: ‘0’inactive, ‘1’ active
high_int: high-g interrupt status: ‘0’inactive, ‘1’ active
low_int: low-g interrupt status: ‘0inactive, ‘1 active
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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’
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x0B (INT_STATUS_2)
The register contains interrupt status flags. Each flag is associated with a specific interrupt
engine. It is set when the associated interrupt engine triggers. The setting of latch_int<3:0>
controls if the interrupt signal and hence the respective interrupt flag will be permanently
latched, temporarily latched or not latched. The interrupt function associated with a specific
status flag must be enabled.
Name
0x0B
INT_STATUS_2
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
tap_sign
tap_first_z
tap_first_y
tap_first_x
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
slope_sign
slope_first_z
slope_first_y
slope_first_x
tap_sign: sign of single/double tap triggering signal was ‘0’positive, or ‘1’ negative
tap_first_z: single/double tap interrupt: ‘1’ triggered by, or ‘0’not triggered by z-axis
tap_first_y: single/double tap interrupt: ‘1’ triggered by, or ‘0’not triggered by y-axis
tap_first_x: single/double tap interrupt: ‘1’ triggered by, or ‘0’not triggered by x-axis
slope_sign: slope sign of slope tap triggering signal was ‘0’positive, or ‘1 negative
slope_first_z: slope interrupt: ‘1’ triggered by, or ‘0’not triggered by z-axis
slope_first_y: slope interrupt: ‘1’ triggered by, or ‘0’not triggered by y-axis
slope_first_x: slope interrupt: ‘1’ triggered by, or ‘0’not triggered by x-axis
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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 not latched. The interrupt function
associated with a specific status flag must be enabled.
Name
0x0C
INT_STATUS_3
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
flat
orient<2:0>
Bit
3
2
1
0
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
high_sign
high_first_z
high_first_y
high_first_x
flat: device is in ‘1 flat, or ‘0’ non flat position;
only valid if (0x16) flat_en = ‘1’
orient<2>: Orientation value of z-axis: ´0´ upward looking, or ´1´ downward
looking. The flag always reflect the current orientation status, independent of
the setting of latch_int<3:0>. The flag is not updated as long as an
orientation blocking condition is active.
orient<1:0>: orientation value of x-y-plane:
‘00’portrait upright; ‘01’portrait upside down;
‘10’landscape left; ‘11’landscape right;
The flags always reflect the current orientation status, independent of the
setting of latch_int<3:0>. The flag is not updated as long as an orientation
blocking condition is active.
high_sign: sign of acceleration signal that triggered high-g interrupt was ‘0’positive, ‘1’
negative
high_first_z: high-g interrupt: ‘1 triggered by, or ‘0’not triggered by z-axis
high_first_y: high-g interrupt: ‘1 triggered by, or ‘0’not triggered by y-axis
high_first_x: high-g interrupt: ‘1’ triggered by, or ‘0’not triggered by x-axis
BMA250E
Data sheet
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© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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 configuration register FIFO_CONFIG_1.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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:
´0011 ±2g range; ´0101b´ ±4g range; ´1000b´ ±8g range;
´1100b´ ±16g range; all other settings reserved (do not use)
reserved: write ‘0’
Register 0x10 (PMU_BW)
The register allows the selection of the acceleration data filter bandwidth.
Name
0x10
PMU_BW
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
bw<4>
0
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
1
1
1
1
Content
bw<3:0>
bw<4:0>: Selection of data filter bandwidth:
´00xxx 7.81 Hz, ´01000b´ 7.81 Hz, ´01001 15.63 Hz,
´01010b´ 31.25 Hz, ´01011 62.5 Hz, ´01100b´ 125 Hz,
´01101b´ 250 Hz, ´01110b´ 500 Hz, ´01111 1000 Hz,
´1xxxxb´ 1000 Hz
reserved: write ‘0’
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x11 (PMU_LPW)
Selection of the main power modes and the low power sleep period.
Name
0x11
PMU_LPW
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
suspend
lowpower_en
deep_suspend
sleep_dur<3>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
sleep_dur<2:0>
reserved
suspend, low_power_en, deep_suspend:
Main power mode configuration setting {suspend; lowpower_en;
deep_suspend}:
{0; 0; 0} NORMAL mode;
{0; 0; 1} DEEP_SUSPEND mode;
{0; 1; 0} LOW_POWER mode;
{1; 0; 0} SUSPEND mode;
{all other} illegal
Please note that only certain power mode transitions are permitted.
sleep_dur<3:0>: Configures the sleep phase duration in LOW_POWER mode:
´0000b´ to ´0101 0.5 ms, ´0110b´ 1 ms,
´0111b´ 2 ms, ´1000b´ 4 ms,
´1001 6 ms, ´1010b´ 10 ms,
´1011b´ 25 ms, ´1100b´ 50 ms,
´1101b´ 100 ms, ´1110b´ 500 ms,
´1111 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.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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_mode: when in LOW_POWER mode ‘0’ use event-driven time-base mode
(compatible with BMA250), or ‘1´ use equidistant sampling time-base
mode. Equidistant sampling of data into the FIFO is maintained in
equidistant time-base mode only.
reserved: write ‘0’
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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 unfiltered, or ‘0’ filtered data may be read from the
acceleration data registers.
shadow_dis: 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 acceleration data during
read-out. The lock is removed when the MSB is read.
reserved: write ‘0
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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.
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
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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
data_en data ready interrupt: ‘0’disabled, or ‘1’ enabled
low_en: low-g interrupt: ‘0’disabled, or ‘1’ enabled
high_en_z: high-g interrupt, z-axis component: 0’disabled, or ‘1’ enabled
high_en_y: high-g interrupt, y-axis component: 0’disabled, or ‘1’ enabled
high_en_x: high-g interrupt, x-axis component: 0’disabled, or ‘1’ enabled
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x19 (INT_MAP_0)
Controls which interrupt signals are mapped to the INT1 pin.
Name
0x19
INT_MAP_0
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
int1_flat
int1_orient
int1_s_tap
int1_d_tap
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
int1_slo_no_mot
int1_slope
int1_high
int1_low
int1_flat: map flat interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_orient: map orientation interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_s_tap: map single tap interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_d_tap: map double tap interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_slo_no_mot: map slow/no-motion interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_slope: map slope interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_high: map high-g to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_low: map low-g to INT1 pin: ‘0’disabled, or ‘1’ enabled
BMA250E
Data sheet
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© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x1A (INT_MAP_1)
Controls which interrupt signals are mapped to the INT1 and INT2 pins.
Name
0x1A
INT_MAP_1
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
int2_data
int2_fwm
int2_ffull
reserved
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
int1_ffull
int1_fwm
int1_data
int2_data: map data ready interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled
int2_fwm: map FIFO watermark interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled
int2_ffull: map FIFO full interrupt to INT2 pin: ‘0’disabled, or ‘1’ enabled
reserved: write ‘0’
int1_ffull: map FIFO full interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_fwm: map FIFO watermark interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
int1_data: map data ready interrupt to INT1 pin: ‘0’disabled, or ‘1’ enabled
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
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
BMA250E
Data sheet
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© Bosch Sensortec GmbH reserves all rights even in the event of industrial property rights. We reserve all rights of disposal such as copying and passing on to
third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x1E (INT_SRC)
Contains the data source definition for interrupts with selectable data source.
Name
0x1E
INT_SRC
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
int_src_data
int_src_tap
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
int_src_slo_no_m
ot
int_src_slope
int_src_high
int_src_low
reserved: write ‘0’
int_src_data: select ‘0’filtered, or ‘1’ unfiltered data for new data interrupt
int_src_tap: select ‘0’filtered, or ‘1’ unfiltered data for single-/double tap interrupt
int_src_slo_no_mot: select ‘0’filtered, or ‘1’ unfiltered data for slow/no-motion interrupt
int_src_slope: select ‘0’filtered, or ‘1’ unfiltered data for slope interrupt
int_src_high: select ‘0’filtered, or ‘1’ unfiltered data for high-g interrupt
int_src_low: select ‘0’filtered, or ‘1’ unfiltered data for low-g interrupt
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x20 (INT_OUT_CTRL)
Contains 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
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x21 (INT_RST_LATCH)
Contains the interrupt reset bit and the interrupt mode selection.
Name
0x21
INT_RST_LATCH
Bit
7
6
5
4
Read/Write
W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reset_int
Reserved
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
latch_int<3:0>
reset_int: write ‘1’ clear any latched interrupts, or ‘0’ keep latched interrupts
active
reserved: write ‘0’
latch_int<3:0>: ´0000b´ non-latched, ´0001 temporary, 250 ms,
´0010b´ temporary, 500 ms, ´0011b´ temporary, 1 s,
´0100b´ temporary, 2 s, ´0101b´ temporary, 4 s,
´0110b´ temporary, 8 s, ´0111b´ latched,
´1000b´ non-latched, ´1001b´ temporary, 250 s,
´1010b´ temporary, 500 s, ´1011b´ temporary, 1 ms,
´1100b´ temporary, 12.5 ms, ´1101b´ temporary, 25 ms,
´1110b´ temporary, 50 ms, ´1111b´ latched
Register 0x22 (INT_0)
Contains the delay time definition for the low-g interrupt.
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.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x23 (INT_1)
Contains the threshold definition for the low-g interrupt.
Name
0x23
INT_1
Bit
7
6
5
4
Read/Write
W
R/W
R/W
R/W
Reset
Value
0
0
1
1
Content
low_th<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
low_th<3:0>
low_th<7:0>: low-g interrupt trigger threshold according to low_th<7:0> 7.81 mg in a
range from 0 g to 1.992 g; the default value corresponds to an acceleration
of 375 mg
Register 0x24 (INT_2)
Contains the low-g interrupt mode selection, the low-g interrupt hysteresis setting, and the high-
g interrupt hysteresis setting.
Name
0x24
INT_2
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
1
0
0
0
Content
high_hy<1:0>
reserved
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
1
Content
reserved
low_mode
low_hy<1:0>
high_hy<1:0>: hysteresis of high-g interrupt according to high_hy<1:0> · 125 mg (2-g
range), high_hy<1:0> · 250 mg (4-g range), high_hy<1:0> · 500 mg (8-g
range), or high_hy<1:0> · 1000 mg (16-g range)
low_mode: select low-g interrupt0’ single-axis mode, or ‘1’ axis-summing mode
low_hy<1:0>: hysteresis of low-g interrupt according to low_hy<1:0> · 125 mg independent
of the selected accelerometer g-range
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x25 (INT_3)
Contains the delay time definition for the high-g interrupt.
Name
0x25
INT_3
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
high_dur<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
1
1
1
1
Content
high_dur<3:0>
high_dur<7:0>: high-g interrupt trigger delay according to [high_dur<7:0> + 1] 2 ms in a
range from 2 ms to 512 ms; the default corresponds to a delay of 32 ms.
Register 0x26 (INT_4)
Contains the threshold definition for the high-g interrupt.
Name
0x26
INT_4
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
1
1
0
0
Content
high_th<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
high_th<3:0>
high_th<7:0>: threshold of high-g interrupt according to high_th<7:0> · 7.81 mg (2-g range),
high_th<7:0> · 15.63 mg (4-g range), high_th<7:0> · 31.25 mg (8-g range),
or high_th<7:0> · 62.5 mg (16-g range)
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x27 (INT_5)
Contains the definition of the number of samples to be evaluated for the slope interrupt (any-
motion detection) and the slow/no-motion interrupt trigger delay.
Name
0x27
INT_5
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
slo_no_mot_dur<5:2>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
slo_no_mot_dur<1:0>
slope_dur<1:0>
slo_no_mot_dur<5:0>: Function depends on whether the slow-motion or no-motion
interrupt function has been selected. If the slow-motion interrupt function has
been enabled (slo_no_mot_sel = ‘0’) then [slo_no_mot_dur<1:0>+1]
consecutive slope data points must be above the slow/no-motion threshold
(slo_no_mot_th) for the slow-/no-motion interrupt to trigger. If the no-motion
interrupt function has been enabled (slo_no_mot_sel = ‘1’) then
slo_no_motion_dur<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>
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x28 (INT_6)
Contains the threshold definition for the any-motion interrupt.
Name
0x28
INT_6
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
1
Content
slope_th<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
1
0
0
Content
slope_th<3:0>
slope_th<7:0>: Threshold of the any-motion interrupt. It is range-dependent and defined as a
sample-to-sample difference according to
slope_th<7:0> · 3.91 mg (2-g range) /
slope_th<7:0> · 7.81 mg (4-g range) /
slope_th<7:0> · 15.63 mg (8-g range) /
slope_th<7:0> · 31.25 mg (16-g range)
Register 0x29 (INT_7)
Contains the threshold definition for the slow/no-motion interrupt.
Name
0x29
INT_7
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
1
Content
slo_no_mot_th<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
1
0
0
Content
slo_no_mot_th<3:0>
slo_no_mot_th<7:0>: Threshold of slow/no-motion interrupt. It is range-dependent and defined
as a sample-to-sample difference according to
slo_no_mot_th<7:0> · 3..91 mg (2-g range),
slo_no_mot_th<7:0> · 7.81 mg (4-g range),
slo_no_mot_th<7:0> · 15.63 mg (8-g range),
slo_no_mot_th<7:0> · 31.25 mg (16-g range)
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x2A (INT_8)
Contains the timing definitions for the single tap and double tap interrupts.
Name
0x2A
INT_8
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
tap_quiet
tap_shock
reserved
reserved
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
1
0
0
Content
reserved
tap_dur<2:0>
tap_quiet: selects a tap quiet duration of ‘0’ 30 ms, ‘1’ 20 ms
tap_shock: selects a tap shock duration of ‘0’ 50 ms, ‘1’75 ms
reserved: write ‘0’
tap_dur<2:0>: selects the length of the time window for the second shock event for double
tap detection according to ´000b´ 50 ms, ´001b´ 100 ms, ´010b´ 150
ms, ´011 200 ms, ´100b´ 250 ms, ´101b´ 375 ms, ´110b´ 500
ms, ´111 700 ms.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x2B (INT_9)
Contains the definition of the number of samples processed by the single / double-tap interrupt
engine after wake-up in low-power mode. It also defines the threshold definition for the single
and double tap interrupts.
Name
0x2B
INT_9
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
tap_samp<1:0>
reserved
tap_th<4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
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<4:0>: threshold of the single/double-tap interrupt corresponding to an acceleration
difference of tap_th<4:0> · 62.5mg (2g-range), tap_th<4:0> · 125mg (4g-
range), tap_th<4:0> · 250mg (8g-range), and tap_th<4:0> · 500mg (16g-
range).
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x2C (INT_A)
Contains 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>
reserved: write ‘0’
orient_hyst<2:0>: sets the hysteresis of the orientation interrupt; 1 LSB corresponds to 62.5 mg
irrespective of the selected g-range
orient_blocking<1:0>: selects the blocking mode that is used for the generation of the
orientation interrupt. The following blocking modes are available:
´00b´ no blocking,
´01b´ theta blocking or acceleration in any axis > 1.5g,
´10b´ ,theta blocking or acceleration slope in any axis > 0.2 g or
acceleration in any axis > 1.5g
´11 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 different orientations. The
settings: ´00b´ symmetrical, ´01b´ high-asymmetrical, ´10b´ low-
asymmetrical, ´11 symmetrical.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x2D (INT_B)
Contains 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°
Register 0x2E (INT_C)
Contains the definition of the flat threshold angle for the flat interrupt.
Name
0x2E
INT_C
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
n/a
n/a
0
0
Content
reserved
flat_theta<5:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
1
0
0
0
Content
flat_theta<3:0>
reserved: write ‘0’
flat_theta<5:0>: defines threshold for detection of flat position in range from 0° to 44.8°.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x2F (INT_D)
Contains the definition of the flat interrupt hold time and flat interrupt hysteresis.
Name
0x2F
INT_D
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
1
Content
reserved
flat_hold_time<1:0>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
1
Content
reserved
flat_hy<2:0>
reserved: write ‘0’
flat_hold_time<1:0>: delay time for which the flat value must remain stable for the flat interrupt
to be generated: ´00b´ 0 ms, ´01b´ 512 ms, ´10b´ 1024 ms,
´11 2048 ms
flat_hy<2:0>: defines flat interrupt hysteresis; flat value must change by more than twice
the value of flat interrupt hysteresis to detect a state change. For details see
chapter 4.7.8.
‘000b’ hysteresis of the flat detection disabled
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x30 (FIFO_CONFIG_0)
Contains the FIFO watermark level.
Name
0x30
FIFO_CONFIG_0
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
n/a
n/a
0
0
Content
reserved
fifo_water_mark_level_trigger_retain<
5:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
fifo_water_mark_level_trigger_retain<3:0>
reserved: write ‘0’
fifo_water_mark_level_trigger_retain<5:0>:
fifo_water_mark_level_trigger_retain<5:0> defines the FIFO watermark level.
An interrupt will be generated, when the number of entries in the FIFO is
equal to fifo_water_mark_level_trigger_retain<5:0>;
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x32 (PMU_SELF_TEST)
Contains the settings for the sensor self-test configuration and trigger.
Name
0x32
PMU_SELF_TEST
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
self_test_amp
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved_0
self_test_sign
self_test-axis<1:0>
reserved: write ‘0x0’
reserved_0: write ‘0x0’
self_test_amp; select amplitude of the selftest deflection ´1´ high,
default value is low (´0´)
self_test_sign: select sign of self-test excitation as ´1´ positive, or ´0´ negative
self_test_axis: select axis to be self-tested: ´00b´ self-test disabled, ´01b´ x-axis, ´10b´
y-axis, or ´11b´ z-axis; when a self-test is performed, only the
acceleration data readout value of the selected axis is valid; after the self-
test has been enabled a delay of a least 50 ms is necessary for the read-out
value to settle
BMA250E
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x33 (TRIM_NVM_CTRL)
Contains the control settings for the few-time programmable non-volatile memory (NVM).
Name
0x33
TRIM_NVM_CTRL
Bit
7
6
5
4
Read/Write
R
R
R
R
Reset
Value
n/a
n/a
n/a
n/a
Content
nvm_remain<3:0>
Bit
3
2
1
0
Read/Write
R/W
R
W
R/W
Reset
Value
0
n/a
0
0
Content
nvm_load
nvm_rdy
nvm_prog_trig
nvm_prog_mode
nvm_remain<3:0>: number of remaining write cycles permitted for NVM; the number is
decremented each time a write to the NVM is triggered
nvm_load: ´1´ trigger, or ‘0’ do not trigger an update of all configuration registers
from NVM; the nvm_rdy flag must be ‘1’ prior to triggering the update
nvm_rdy: status of NVM controller: ´0´ NVM write / NVM update operation is in
progress, ´1´ NVM is ready to accept a new write or update trigger
nvm_prog_trig: ‘1’ trigger, or ‘0’ do not trigger an NVM write operation; the trigger is
only accepted if the NVM was unlocked before and nvm_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
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Note: Specifications within this document are subject to change without notice.
Register 0x34 (BGW_SPI3_WDT)
Contains settings for the digital interfaces.
Name
0x34
BGW_SPI3_WDT
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
i2c_wdt_en
i2c_wdt_sel
spi3
reserved: write ‘0’
i2c_wdt_en: if I²C interface mode is selected then ‘ 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
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x36 (OFC_CTRL)
Contains control signals and configuration settings for the fast and the slow offset
compensation.
Name
0x36
OFC_CTRL
Bit
7
6
5
4
Read/Write
W
W
W
R
Reset
Value
0
0
0
0
Content
offset_reset
cal_trigger<1:0>
cal_rdy
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
hp_z_en
hp_y_en
hp_x_en
offset_reset: ´1´ set all offset compensation registers (0x38 to 0x3A) to zero, or ‘0’
keep their values
offset_trigger<1:0>: trigger fast compensation for ´01 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: enable, or ‘0’ disable slow offset compensation for the z-axis
hp_y_en: enable, or ‘0’ disable slow offset compensation for the y-axis
hp_x_en: enable, or ‘0’ disable slow offset compensation for the x-axis
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x37 (OFC_SETTING)
Contains configuration settings for the fast and the slow offset compensation.
Name
0x37
OFC_SETTING
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
reserved
offset_target_z<1:0>
offset_target_y<1
>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
offset_target_y<0
>
offset_target_x<1:0>
cut_off
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:
(0x37)
cut_off
high-pass filter
bandwidth
Example
bw = 500 Hz
0b
1b
*bw: please insert selected decimal data bandwidth value [Hz] from table 4
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x38 (OFC_OFFSET_X)
Contains the offset compensation value for x-axis acceleration readout data.
Name
0x38
OFC_OFFSET_X
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
offset_x<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
offset_x<3:0>
offset_ x<7:0>: offset value, which is subtracted from the internal filtered and unfiltered x-
axis acceleration data; the offset value is represented with two’s complement
notation, with a mapping of +127 +0.992g, 0 0 g, and -128 -1 g; the
scaling is independent of the selected g-range; the content of the
offset_x<7:0> may be written to the NVM; it is automatically restored from
the NVM after each power-on or softreset; offset_x<7:0> may be written
directly by the user; it is generated automatically after triggering the fast
offset compensation procedure for the x-axis
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x39 (OFC_OFFSET_Y)
Contains the offset compensation value for y-axis acceleration readout data.
Name
0x39
OFC_OFFSET_Y
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
offset_y<7:4>
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 subtracted from the internal filtered and unfiltered y-
axis acceleration data; the offset value is represented with two’s complement
notation, with a mapping of +127 +0.992g, 0 0 g, and -128 -1 g; the
scaling is independent of the selected g-range; the content of the
offset_y<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 generated automatically after triggering the fast
offset compensation procedure for the y-axis
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x3A (OFC_OFFSET_Z)
Contains the offset compensation value for z-axis acceleration readout data.
Name
0x3A
OFC_OFFSET_Z
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
offset_z<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
offset_z<3:0>
offset_ z<7:0>: offset value, which is subtracted from the internal filtered and unfiltered z-
axis acceleration data; the offset value is represented with two’s complement
notation, with a mapping of +127 +0.992g, 0 0 g, and -128 -1 g; the
scaling is independent of the selected g-range; the content of the
offset_z<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
Register 0x3B (TRIM_GP0)
Contains general purpose data register with NVM back-up.
Name
0x3B
TRIM_GP0
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
GP0<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
GP0<3:0>
GP0<7:0>: general purpose NVM image register not linked to any sensor-specific
functionality; register may be written to NVM and is restored after each
power-up or softreset
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x3C (TRIM_GP1)
Contains general purpose data register with NVM back-up.
Name
0x3C
TRIM_GP1
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
GP1<7:4>
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
GP1<3:0>
GP1<7:0>: general purpose NVM image register not linked to any sensor-specific
functionality; register may be written to NVM and is restored after each
power-up or softreset
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Note: Specifications within this document are subject to change without notice.
Register 0x3E (FIFO_CONFIG_1)
Contains FIFO configuration settings. The FIFO buffer memory is cleared and the fifo-full flag is
cleared when writing to FIFO_CONFIG_1 register.
Name
0x3E
FIFO_CONFIG_1
Bit
7
6
5
4
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
fifo_mode<1:0>
Reserved
Bit
3
2
1
0
Read/Write
R/W
R/W
R/W
R/W
Reset
Value
0
0
0
0
Content
Reserved
fifo_data_select<1:0>
fifo_mode<1:0>: selects the FIFO operating mode:
´00b´ BYPASS (buffer depth of 1 frame; old data is discarded),
´01b´ FIFO (data collection stops when buffer is filled with 32 frames),
´10b´ STREAM (sampling continues when buffer is full; old is discarded),
´11 reserved, do not use
fifo_data_select<1:0>: selects whether ´00b´ X+Y+Z, ´01b´ X only, ´10b´ Y only,
´11 Z only acceleration data are stored in the FIFO
BMA250E
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
Register 0x3F (FIFO_DATA)
FIFO data readout register. The format of the LSB and MSB components corresponds to that of
the acceleration data readout registers. The new data flag is preserved. Read burst access may
be used since the address counter will not increment when the read burst is started at the
address of FIFO_DATA. The entire frame is discarded when a fame is only partially read out.
Name
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
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
7. Digital interfaces
The BMA250E supports two serial digital interface protocols for communication as a slave with
a host device (when operating in general mode): SPI and I²C. The active interface is selected
by the state of the Pin#11 (PS) ‘protocol select’ pin: ´0´ (´1´) selects SPI (I²C). For details please
refer to section 8).
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 interfaces share the same pins. The mapping for each interface is given in the following
table:
Table 20: Mapping of the interface pins
Pin#
Name
use w/
SPI
use w/
I²C
Description
1
SDO
SDO
address
SPI: Data Output (4-wire mode)
I²C: Used to set LSB of I²C address
2
SDx
SDI
SDA
SPI: Data Input (4-wire mode) Data Input / Output (3-wire
mode)
I²C: Serial Data
10
CSB
CSB
unused
Chip Select (enable)
12
SCx
SCK
SCL
SPI: Serial Clock
I²C: Serial Clock
The following table shows the electrical specifications of the interface pins:
Table 21: Electrical specification of the interface pins
Parameter
Symbol
Condition
Min
Typ
Max
Units
Pull-up Resistance,
CSB pin
Rup
Internal Pull-up
Resistance to
VDDIO
75
100
125
k
Input Capacitance
Cin
5
10
pF
I²C Bus Load
Capacitance (max.
drive capability)
CI2C_Load
400
pF
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
7.1 Serial peripheral interface (SPI)
The timing specification for SPI of the BMA250E is given in the following table:
Table 22: SPI timing
Parameter
Symbol
Condition
Min
Max
Units
Clock Frequency
fSPI
Max. Load on SDI
or SDO = 25pF,
VDDIO ≥ 1.62V
10
MHz
VDDIO < 1.62V
7.5
MHz
SCK Low Pulse
tSCKL
20
ns
SCK High Pulse
tSCKH
20
ns
SDI Setup Time
tSDI_setup
20
ns
SDI Hold Time
tSDI_hold
20
ns
SDO Output Delay
tSDO_OD
Load = 25pF,
VDDIO ≥ 1.62V
30
ns
Load = 25pF,
VDDIO < 1.62V
50
ns
Load = 250pF,
VDDIO > 2.4V
40
ns
CSB Setup Time
tCSB_setup
20
ns
CSB Hold Time
tCSB_hold
40
ns
Idle time between
write accesses, normal
mode, standby mode,
low-power mode 2
tIDLE_wacc_nm
2
µs
Idle time between
write accesses,
suspend mode, low-
power mode 1
tIDLE_wacc_sum
450
µs
BMA250E
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Note: Specifications within this document are subject to change without notice.
The following figure shows the definition of the SPI timings given in the following figure:
tSDI_hold
tSCKH
tCSB_hold
tCSB_setup
tSDI_setup
tSCKL
tSDO_OD
CSB
SCK
SDI
SDO
Figure 13: SPI timing diagram
The SPI interface of the BMA250E 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.
Two configurations of the SPI interface are supported by the BMA250E: 4-wire and 3-wire. The
same protocol is used by both configurations. The device operates in 4-wire configuration by
default. It can be switched to 3-wire configuration by writing ´1´ to (0x34) spi3. 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 BMA250E also
supports multiple-byte read operations.
In SPI 4-wire configuration CSB (chip select low active), SCK (serial clock), SDI (serial data
input), and SDO (serial data output) pins are used. The communication starts when the CSB is
pulled low by the SPI master and stops when CSB is pulled high. SCK is also controlled by SPI
master. SDI and SDO are driven at the falling edge of SCK and should be captured at the rising
edge of SCK.
BMA250E
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Note: Specifications within this document are subject to change without notice.
The basic write operation waveform for 4-wire configuration is depicted in figure 14. During the
entire write cycle SDO remains in high- impedance state.
CSB
SCK
SDI
R/W
AD6
AD5
AD4
AD3
AD2
AD1
AD0
DI5
DI4
DI3
DI2
DI1
DI0
DI7
DI6
SDO
tri-state
Z
Figure 14: 4-wire basic SPI write sequence (mode ´11´)
The basic read operation waveform for 4-wire configuration is depicted in figure 15:
CSB
SCK
SDI
R/W
AD6
AD5
AD4
AD3
AD2
AD1
AD0
SDO
DO5
DO4
DO3
DO2
DO1
DO0
DO7
DO6
tri-state
Figure 15: 4-wire basic SPI read sequence (mode ´11´)
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
The data bits are used as follows:
Bit0: Read/Write bit. When 0, the data SDI is written into the chip. When 1, the data SDO from
the chip is read.
Bit1-7: Address AD(6:0).
Bit8-15: when in write mode, these are the data SDI, which will be written into the address.
When in read mode, these are the data SDO, which are read from the address.
Multiple read operations are possible by keeping CSB low and continuing the data transfer.
Only the first register address has to be written. Addresses are automatically incremented after
each read access as long as CSB stays active low.
The principle of multiple read is shown in figure 16:
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
Figure 16: SPI multiple read
In SPI 3-wire configuration CSB (chip select low active), SCK (serial clock), and SDI (serial
data input and output) pins are used. The communication starts when the CSB is pulled low by
the SPI master and stops when CSB is pulled high. SCK is also controlled by SPI master. SDI
is 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 waveform (read or write access) for 3-wire configuration is depicted in figure 17:
CSB
SCK
SDI
RW
AD6
AD5
AD4
AD3
AD2
AD1
AD0
DI5
DI4
DI3
DI2
DI1
DI0
DI7
DI6
Figure 17: 3-wire basic SPI read or write sequence (mode ´11´)
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
7.2 Inter-Integrated Circuit (I²C)
The I²C bus uses SCL (= SCx pin, serial clock) and SDA (= SDx pin, serial data input and
output) signal lines. Both lines are connected to VDDIO externally via pull-up resistors so that they
are pulled high when the bus is free.
The I²C interface of the BMA250E is compatible with the I²C Specification UM10204 Rev. 03
(19 June 2007), available at http://www.nxp.com. The BMA250E supports I²C standard mode
and fast mode, only 7-bit address mode is supported.
The default I²C address of the device is 0011000b (0x18). It is used if the SDO pin is pulled to
´GND´. The alternative address 0011001b (0x19) is selected by pulling the SDO pin to ´VDDIO´.
The timing specification for I²C of the BMA250E is given in Table 23:
Table 23: I²C timings
Parameter
Symbol
Condition
Min
Max
Units
Clock Frequency
fSCL
400
kHz
SCL Low Period
tLOW
1.3
s
SCL High Period
tHIGH
0.6
SDA Setup Time
tSUDAT
0.1
SDA Hold Time
tHDDAT
0.0
Setup Time for a
repeated Start
Condition
tSUSTA
0.6
Hold Time for a Start
Condition
tHDSTA
0.6
Setup Time for a Stop
Condition
tSUSTO
0.6
Time before a new
Transmission can
start
tBUF
1.3
Idle time between
write accesses,
normal mode, standby
mode, low-power
mode 2
tIDLE_wacc_n
m
2
µs
Idle time between
write accesses,
suspend mode, low-
power mode 1
tIDLE_wacc_s
um
450
µs
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
Figure 18 shows the definition of the I²C timings given in Table 23:
tHDDAT
tf
tBUF
SDA
SCL
SDA
tLOW
tHDSTA
tr
tSUSTA
tHIGH
tSUDAT
tSUSTO
Figure 18: I²C timing diagram
The I²C protocol works as follows:
START: Data transmission on the bus begins with a high to low transition on the SDA line while
SCL is held high (start condition (S) indicated by I²C bus master). Once the START signal is
transferred by the master, the bus is considered busy.
STOP: Each data transfer should be terminated by a Stop signal (P) generated by master. The
STOP condition is a low to HIGH transition on SDA line while SCL is held high.
ACK: Each byte of data transferred must be acknowledged. It is indicated by an acknowledge
bit sent by the receiver. The transmitter must release the SDA line (no pull down) during the
acknowledge pulse while the receiver must then pull the SDA line low so that it remains stable
low during the high period of the acknowledge clock cycle.
In the following diagrams these abbreviations are used:
S Start
P Stop
ACKS Acknowledge by slave
ACKM Acknowledge by master
NACKM Not acknowledge by master
RW Read / Write
A START immediately followed by a STOP (without SCK toggling from logic 1to logic “0”) is
not supported. If such a combination occurs, the STOP is not recognized by the device.
BMA250E
Data sheet
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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:
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
S
Slave Adress
Register adress (0x10)
Control byte
Data byte
Data (0x09)
P
Figure 19: I²C write
I²C read access:
I²C read access also can be used to read one or multiple data bytes in one sequence.
A read sequence consists of a one-byte I²C write phase followed by the I²C read phase. The
two parts of the transmission must be separated by a repeated start condition (Sr). The I²C write
phase addresses the slave and sends the register address to be read. After slave
acknowledges the transmission, the master generates again a start condition and sends the
slave address together with a read bit (RW = 1). Then the master releases the bus and waits for
the data bytes to be read out from slave. After each data byte the master has to generate an
acknowledge bit (ACK = 0) to enable further data transfer. A NACKM (ACK = 1) from the
master stops the data being transferred from the slave. The slave releases the bus so that the
master can generate a STOP condition and terminate the transmission.
The register address is automatically incremented and, therefore, more than one byte can be
sequentially read out. Once a new data read transmission starts, the start address will be set to
the register address specified in the latest I²C write command. By default the start address is
set at 0x00. In this way repetitive multi-bytes reads from the same starting address are possible.
In order to prevent the I²C slave of the device to lock-up the I²C bus, a watchdog timer (WDT) is
implemented. The WDT observes internal I²C signals and resets the I²C interface if the bus is
locked-up by the BMA250E. The activity and the timer period of the WDT can be configured
through the bits (0x34) i2c_wdt_en and (0x34) i2c_wdt_sel.
Writing ´1´ (´0´) to (0x34) i2c_wdt_en activates (de-activates) the WDT. Writing ´0´ (´1´) to
(0x34) i2c_wdt_se selects a timer period of 1 ms (50 ms).
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
Example of an I²C read access:
Start RW ACKS
dummy
ACKS
00110000 X0000010
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
XXXXXXXX XXXXXXXX
ACKM NACK Stop
XXXXXXXX XXXXXXXX
Sr
Slave Adress
Read Data (0x03)
Read Data (0x02)
Control byte
Data byte
Data byte
S
Slave Adress
Register adress (0x02)
P
Data byte
Data byte
Read Data (0x06)
Read Data (0x07)
Data byte
Data byte
Read Data (0x04)
Read Data (0x05)
Figure 20: I²C multiple read
7.2.1 SPI and I²C Access Restrictions
In order to allow for the correct internal synchronisation of data written to the BMA250E, certain
access restrictions apply for consecutive write accesses or a write/read sequence through the
SPI as well as I2C interface. The required waiting period depends on whether the device is
operating in normal mode (or standby mode, or low-power mode 2) or suspend mode (or low-
power mode 1).
As illustrated in figure 21, an interface idle time of at least 2 µs is required following a write
operation when the device operates in normal mode (or standby mode, or low-power mode 2).
In suspend mode (or low-power mode 1) an interface idle time of least 450 µs is required.
X-after-Write
Register Update Period
(> 2us / 450us)
Write-Operation X-Operation
Figure 21: Post-Write Access Timing Constraints
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
8. Pin-out and connection diagram
8.1 Pin-out
Figure 22: Pin-out top view Figure 23: Pin-out bottom view
Table 24: Pin description
Pin#
Name
I/O Type
Description
Connect to
in SPI 4W
In SPI 3W
in I²C
1
SDO
Digital out
Serial data output in SPI
Address select in I²C mode
see chapter 7.2
SDO
DNC (float)
GND for default
addr.
2
SDx
Digital I/O
SDA serial data I/O in I²C
SDI serial data input in SPI
4W
SDA serial data I/O in SPI
3W
SDI
SDA
SDA
3
VDDIO
Supply
Digital I/O supply voltage
(1.2V 3.6V)
VDDIO
VDDIO
VDDIO
4
NC
--
GND
GND
GND
5
INT1
Digital out
Interrupt output 1 *
INT1
INT1
INT1
6
INT2
Digital out
Interrupt output 2 *
INT2
INT2
INT2
7
VDD
Supply
Power supply for analog &
digital domain (1.62V
3.6V)
VDD
VDD
VDD
8
GNDIO
Ground
Ground for I/O
GND
GND
GND
9
GND
Ground
Ground for digital & analog
GND
GND
GND
10
CSB
Digital in
Chip select for SPI mode
CSB
CSB
DNC (float)
11
PS
Digital in
Protocol select (GND = SPI,
VDDIO = C)
GND
GND
VDDIO
12
SCx
Digital in
SCK for SPI serial clock
SCL for I²C serial clock
SCK
SCK
SCL
* If INT1 and/or INT2 are not used, please do not connect them (DNC).
Bottom View
Pads visible!
Top View
Pads not visible!
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
8.2 Connection diagram 4-wire SPI
Figure 24: 4-wire SPI connection
Note: the recommended value for C1, C2 is 100 nF.
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
8.3 Connection diagram 3-wire SPI
Figure 25: 3-wire SPI connection
Note: the recommended value for C1, C2 is 100 nF.
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
8.4 Connection diagram I2C
Figure 26: I²C connection
Note: the recommended value for C1, C2 is 100 nF.
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9. Package
9.1 Outline dimensions
The sensor housing is a standard LGA package. Its dimensions are the following.
Figure 27: Package outline dimensions
Pin1 marking:
Metal pad internally connected to GND
(external connection not recommended)
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.2 Sensing axes orientation
If the sensor is accelerated in the indicated directions, the corresponding channel will deliver a
positive acceleration signal (dynamic acceleration). If the sensor is at rest and the force of
gravity is acting along the indicated directions, the output of the corresponding channel will be
negative (static acceleration).
Example: If the sensor is at rest or at uniform motion in a gravity field according to the figure
given below, the output signals are:
± 0g for the X channel
± 0g for the Y channel
+ 1g for the Z channel
Figure 28: Orientation of sensing axis
The following table lists all corresponding output signals on X, Y, and Z while the sensor is at
rest or at uniform motion in a gravity field under assumption of a ±2g range setting and a top
down gravity vector as shown above.
Table 25: Output signals depending on sensor orientation
Sensor Orientation
(gravity vector )
Output Signal X
0g / 0LSB
1g / 256LSB
0g / 0LSB
-1g / -256LSB
0g / 0LSB
0g / 0LSB
Output Signal Y
- 1g / -256LSB
0g / 0LSB
1g / 256LSB
0g / 0LSB
0g / 0LSB
0g / 0LSB
Output Signal Z
0g / 0LSB
0g / 0LSB
0g / 0LSB
0g / 0LSB
1g / 256LSB
-1g / -256LSB
upright
upright
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.3 Landing Pattern Recommendation
For the design of the landing patterns, we recommend the following dimensioning:
Figure 29: Landing patterns; dimensions are in mm
Same tolerances as given for the outline dimensions (Chapter 9.1, Figure 27) 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 structures).
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.4 Marking
9.4.1 Mass production devices
Table 26: Marking of mass production samples
Labeling
Name
Symbol
Remark
Lot counter
CCC
3 alphanumeric digits, variable
to generate mass production trace-code
Product number
T
1 alphanumeric digit, fixed
to identify product type, T = “I
Sub-con ID
L
1 alphanumeric digit, variable
to identify sub-con
Pin 1 identifier
--
9.4.2 Engineering samples
Table 27: 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
Sample ID
XX
2 alphanumeric digits, variable
to generate trace-code
Counter ID
CC
2 alphanumeric digits, variable
to generate trace-code
Pin 1 identifier
--
XXN
CC
CCC
TL
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.5 Soldering guidelines
The moisture sensitivity level of the BMA250E sensors corresponds to JEDEC Level 1, see also
- IPC/JEDEC J-STD-020C "Joint Industry Standard: Moisture/Reflow Sensitivity
Classification for non-hermetic Solid State Surface Mount Devices"
- IPC/JEDEC J-STD-033A "Joint Industry Standard: Handling, Packing, Shipping and Use of
Moisture/Reflow Sensitive Surface Mount Devices"
The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC
standard, i.e. reflow soldering with a peak temperature up to 260°C.
Figure 30: Soldering profile
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.6 Handling instructions
Micromechanical sensors are designed to sense acceleration with high accuracy even at low
amplitudes and contain highly sensitive structures inside the sensor element. The MEMS
sensor can tolerate mechanical shocks up to several thousand g's. However, these limits might
be exceeded in conditions with extreme shock loads such as e.g. hammer blow on or next to
the sensor, dropping of the sensor onto hard surfaces etc.
We recommend to avoid g-forces beyond the specified limits during transport, handling and
mounting of the sensors in a defined and qualified installation process.
This device has built-in protections against high electrostatic discharges or electric fields (e.g.
2kV HBM); however, anti-static precautions should be taken as for any other CMOS
component. Unless otherwise specified, proper operation can only occur when all terminal
voltages are kept within the supply voltage range. Unused inputs must always be tied to a
defined logic voltage level.
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.7 Tape and reel specification
The BMA250E is shipped in a standard cardboard box.
The box dimension for 1 reel is: L x W x H = 35cm x 35cm x 6cm.
BMA250E quantity: 10,000pcs per reel, please handle with care.
Figure 31: Tape and reel dimensions in mm
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.7.1 Orientation within the reel
Processing direction
Figure 32: Orientation of the BMA250E devices relative to the tape
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
9.8 Environmental safety
The BMA250E 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 8 September
2011 on the restriction of the use of certain hazardous substances in electrical and
electronic equipment.
9.8.1 Halogen content
The BMA250E is halogen-free. For more details on the corresponding analysis results please
contact your Bosch Sensortec representative.
9.8.2 Internal package structure
Within the scope of Bosch Sensortec’s ambition to improve its products and secure the mass
product supply, Bosch Sensortec qualifies additional sources (e.g. 2nd source) for the LGA
package of the BMA250E.
While Bosch Sensortec took care that all of the technical packages parameters are described
above are 100% identical for all sources, there can be differences in the chemical content and
the internal structural between the different package sources.
However, as secured by the extensive product qualification process of Bosch Sensortec, this
has no impact to the usage or to the quality of the BMA250E product.
BMA250E
Data sheet
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third parties. BOSCH and the symbol are registered trademarks of Robert Bosch GmbH, Germany.
Note: Specifications within this document are subject to change without notice.
10. Legal disclaimer
10.1 Engineering samples
Engineering Samples are marked with an asterisk (*) or (e) or (E). Samples may vary from the
valid technical specifications of the product series contained in this data sheet. They are
therefore not intended or fit for resale to third parties or for use in end products. Their sole
purpose is internal client testing. The testing of an engineering sample may in no way replace
the testing of a product series. Bosch 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.
10.2 Product use
Bosch Sensortec products are developed for the consumer goods industry. They may only be
used within the parameters of this product data sheet. They are not fit for use in life-sustaining
or security sensitive systems. Security sensitive systems are those for which a malfunction is
expected to lead to bodily harm or significant property damage. In addition, they are not fit for
use in products which interact with motor vehicle systems.
The resale and/or use of products are at the purchaser’s own risk and his own responsibility.
The examination of fitness for the intended use is the sole responsibility of the Purchaser.
The purchaser shall indemnify Bosch Sensortec from all third party claims arising from any
product use not covered by the parameters of this product data sheet or not approved by Bosch
Sensortec and reimburse Bosch Sensortec for all costs in connection with such claims.
The purchaser must monitor the market for the purchased products, particularly with regard to
product safety, and inform Bosch Sensortec without delay of all security relevant incidents.
10.3 Application examples and hints
With respect to any examples or hints given herein, any typical values stated herein and/or any
information regarding the application of the device, Bosch Sensortec hereby disclaims any and
all warranties and liabilities of any kind, including without limitation warranties of non-
infringement of intellectual property rights or copyrights of any third party. The information given
in this document shall in no event be regarded as a guarantee of conditions or characteristics.
They are provided for illustrative purposes only and no evaluation regarding infringement of
intellectual property rights or copyrights or regarding functionality, performance or error has
been made.
BMA250E
Data sheet
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Note: Specifications within this document are subject to change without notice.
11. Document history and modification
Rev. No
Chapter
Description of modification/changes
Date
0.1
Initial internal release
01 June 2012
0.2
Internal revision, not for release
0.3
Internal revision, not for release
0.4
Internal revision, not for release
0.5
All
Initial external release
01 August 2012
0.6
1, 4.1, 4.2,
6.2, 7.1,
9.3
Update
24 Sep 2012
0.7
4.5.2,
4.7.8, 6.2,
9.1, 9.3
Update
22 Oct 2012
1.0
1, 4.2,
4.7.3,
4.7.7, 6.2,
9.3, 9.4.1,
9.8
Update
21 May 2013
1.1
4.7
Update Single tap; update high-g interrupt
12 Dec 2013
6.2
Update 0x0F; update 0x2B; update 0x32
1.2
4.2
sleeptimer_en->sleeptimer_mode, linguistic
improvement: “… a wake-up time of at least …
01 August 2014
4.5.1
Slow compensation update (High-pass filter cut
off frequency)
4.7.6
Tap sensing update (temporary latched interrupt)
6.2
0x37 cut_of update
7.2
I²C description update
1.3
Additional Technical Refernce Code added
28 April 2015
Bosch Sensortec GmbH
Gerhard-Kindler-Strasse 8
72770 Reutlingen / Germany
contact@bosch-sensortec.com
www.bosch-sensortec.com
Modifications reserved | Printed in Germany
Specifications subject to change without notice
Document number: BST-BMA250E-DS004-06
Revision_1.3_April_2015