BMA220

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Rev. 1.10 Page 1 13 April 2011 © 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. Document is not intended for publication. BMA220 data sheet Ordering code Please contact your Bosch Sensortec representative for the ordering code Package type 12-pin LGA Document revision 1.10 Document release date 13 April 2011 Document number BST-BMA220-DS003-07 Technical reference code(s) 0 273 141 102 Notes Specifications are subject to change without notice. Product photos and pictures are for illustration purposes only and may differ from the real product’s appearance. BMA220 Digital, triaxial acceleration sensor Data sheet Bosch Sensortec

Rev. 1.10 Page 2 13 April 2011 © 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. Document is not intended for publication. BMA220 Triaxial 2g to 16g acceleration sensor with on-chip motion- triggered interrupt controller Key features

• Three-axis accelerometer
• Ultra-Small package Mold package (LGA 12ld), Footprint 2mm x 2mm, height 0.98mm
• Digital interface SPI (4-wire, 3-wire), I²C, interrupt pin I/O supply voltage range: 1.6V to 3.6V
• Programmable functionality Acceleration ranges ±2g/±4g/±8g/±16g Bandwidth 1kHz . . . 32Hz Self test
• On-chip interrupt controller Motion-triggered interrupt-signal generation for - orientation recognition - any-motion detection - tap/double tap sensing - low-g/high-g detection Stand-alone capability (no microcontroller needed)
• Ultra-low power ASIC Low current consumption, short wake-up time, advanced features for system power management
• RoHS compliant, halogen-free Typical applications
• Display profile switching
• Tap/double tap sensing
• Menu scrolling
• Gaming
• Drop detection for warranty logging
• Advanced system power management for mobile applications General description The BMA220 is a triaxial, low-g acceleration sens or with digital output for consumer market applications. It allows measurements of accelera tion 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 interface 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 sensor offers a variable I/O supply voltage range from 1.6V to 3.6V and can be programmed to optimize functionality, performance and power consumption in customer specific applications. In addition it features an on-chip interrupt controller enabling motion-based applications without use of a microcontroller. The BMA220 senses tilt, motion and shock vi bration in cell phones, handhelds, computer peripherals, man-machine interfaces, virtual reality features and game controllers.

Rev. 1.10 Page 3 13 April 2011 © 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. Document is not intended for publication. CONTENT

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1 Specification

If not stated otherwise, the given values are ma ximum values over lifetime and full performance temperature and voltage ranges. Min/max. data represent 3-sigma values. Table 1: Operating conditions, output signal and mechanical characteristics Parameter Symbol Condition Min Typ Max Units OPERATING CONDITIONS gFS2g ±2.0 g gFS4g ±4.0 g gFS8g ±8.0 g Acceleration Range gFS16g switchable via serial digital interface ±16.0 g Supply Voltage Analog Domain VDDA 1.62 1.8 1.98 V Supply Voltage Digital Domain VDDD 1.62 1.8 1.98 V Supply Voltage I/O Domain VDDIO 1.62 3.6 V VIL SPI SPI 0.1*V DDIO V Voltage Input Low Level VIL I2C I²C 0.3*V DDIO V VIH SPI SPI 0.9*V DDIO V Voltage Input High Level VIH I2C I²C 0.7*V DDIO V Voltage Output High Level VOH SPI & I²C V DDIO V VOL SPI SPI GND V Voltage Output Low Level VOL I2C I²C, RP ≥ 680  0.2*V DDIO V Supply Current in Normal Mode IDD Nominal V DD supplies at TA=25°C 250 A Supply current in Low Power Mode IDDsl Nominal V DD supplies TA=25°C, BW = 1kHz sleep dur. > 25ms < 10 A Supply Current in Suspend Mode IDDsd Nominal V DD supplies at TA=25°C < 1 A Wake-Up Time t w_up from sleep/suspend mode @1kHz bw 1.2 ms Start-Up Time t s_up POR @1kHz bw 1.5 ms Operating Temperature TA -40 +85 C

Rev. 1.10 Page 6 13 April 2011 © 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. Document is not intended for publication. OUTPUT SIGNAL Device resolution D res g FS2g 62.5 mg S2g g FS2g, TA=25°C 16 LSB/g S4g g FS4g,TA=25°C 8 LSB/g S8g g FS8g, TA=25°C 4 LSB/g Sensitivity S16g g FS16g, TA=25°C 2 LSB/g Sensitivity Temperature Drift TCS -40°C  TA  +85°C ±0.03 %/K Zero-g Offset Off T A=25°C, VDDA=1.8V, gFS2g ±95 mg Zero-g Offset Temperature Drift TCO -40°C  TA  +85°C, gFS2g ±2 mg/K Bandwidth bw 1 st order filter, switchable 32/64/ 125/250/ Hz Nonlinearity NL best fit straight line ±2 %FS TSTx 0.7g*S x LSB TSTy 2.0g*S y LSB Self Test Response TSTz depending on sensitivity/ acceleration range 0.6g*S z LSB Output Noise n rms rms, Nominal VDD supplies TA=25°C, BW = 1kHz 2 mg/Hz MECHANICAL CHARACTERISTICS Cross Axis Sensitivity S relative contribution between 3 axes 2 % Alignment Error a relative to package outline ±0.5 °

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2 Absolute maximum ratings

All voltages below are given with respect to GND. Table 2: Absolute maximum ratings Parameter Condition Min Max Units Voltage at supply pad V DDD and VDDA -0.3 2.0 V V DDIO -0.3 4.25 V Voltage at any logic pad Non-supply pad -0.3 V DDIO+0.3 V Storage temperature range rel. humidity <=65% -50 +150 °C duration ≤ 200μs 10,000 g duration ≤ 1.0ms 2,000 g Mechanical shock free fall onto hard surfaces 1.8 m HBM, at any pin 2 kV ESD CDM 500 V

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3 Block diagram

The following figure describes the functionality of the two basic parts of the sensor module, namely mechanical sensor element and evaluating ASIC. Figure 1: Block diagram BMA220 ASIC VDDA INT C1X C2X C1Y C2Y C1Z C2Z CM Mulitplexer C/U Control Logic and Interrupt Engines I C SPI FilterYGain & Offset FilterX FilterZ ADC Reference Trimming OTP Clock CAP0 CSB SCL SCK SDO SDA SDI SDO PS VSS VDDD VDDIO Sensor Element VSS Mulitplexer

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4 Global memory map

The memory map below shows all externally accessible data registers which are needed to operate BMA220.The left columns show the me mory addresses. The columns in the middle depict the content of each register bit. The colors of the bits indicate whether they are read-only, write-only or read- and writable. The memory is volatile so that the writable content has to be re- written after each power-on. The extended address space greater than 0x19 (SPI) / 0x32 (I 2C) is not shown. These registers are reserved for further Bosch factory testing and trimming. Register Address (I²C) Register Address (SPI) bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0 default after power-up 0x32 0x19 0x00 0x30 0x18 0x00 0x2E 0x17 WDT_TO_en WDT_TO_sel SPI3 0x00 0x2C 0x16 0x00 0x2A 0x15 0x00 0x28 0x14 0x00 0x26 0x13 0x00 0x24 0x12 0x10 0x22 0x11 sbist_sign 0x00 0x20 0x10 serial_high_bw 0x00 0x1E 0x0F unused sleep_en en_x_channel en_y_channel en_z_channel 0x07 0x1C 0x0E reset_int en_low en_high_x en_high_y en_high_z 0x00 0x1A 0x0D en_data en_orient en_slope_x en_slope_y en_slope_z en_tt_x en_tt_y en_tt_z 0x00 0x18 0x0C tt_int low_int high_int data_int slope_int 0x00 0x16 0x0B orient_int int_first_x int_first_y int_first_z int_sign 0x00 0x14 0x0A tip_en 0x08 0x12 0x09 orient_ex slope_filt 0x45 0x10 0x08 tt_filt 0xB5 0xE 0x07 0x7F 0xC 0x06 0x4E 0xA 0x05 0x7F 0x8 0x04 0 0 0x00 0x6 0x03 0 0 0x00 0x4 0x02 0 0 0x00 0x2 0x01 0x00 0x0 0x00 0xDDChip ID tt_samp[1:0] slope_th[3:0] slope_dur[1:0] tt_th[3:0] tt_dur[2:0] acc_z<5:0> acc_y<5:0> acc_x<5:0> Revision ID low_th[3:0] high_th[3:0] high_hy[1:0] high_dur[5:0] low_hy[1:0] low_dur[5:0] orient_blocking [1:0]unused lat_int[2:0] unused orient[2:0] sbist (off,x,y,z) filt_config[3:0] unused unused range[1:0] sleep_dur[2:0] reserved reserved reserved reserved softreset suspend unused reserved Figure 2: Memory map Note: From SPI  I²C use burst address increment in 0x02h steps.

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4.1 Control registers

4.1.1 3-wire SPI mode selection The BMA220 supports both 4-wire and 3-wire SPI. The protocols are exactly the same except for the fact that in 3-wire mode, the SDI pin is also used for data output. The default mode is 4-wire SPI. If 3-wire SPI should be used, the SPI3 bit in register 0x17 (SPI) must be set to ‘1’.

4.1.2 Low-power mode configuration

The BMA220 supports a low-power mode. In this low-power mode, the chip wakes up periodically, enables the interrupt controller and goes back to sleep if no interrupt has occurred. The procedure is the following: 1. Wake-up 2. Enable analog front-end and convert acceleration data until the low-pass filters have settled. 3. Enable integrated interrupt controller and evaluate interrupt conditions. Once the interrupt conditions have been evaluated and no interrupt has occurred, the chip goes back to sleep. If no interrupt is enabled, the acceleration for x-, y- and z-axes are converted once and then the chip goes back to sleep. 4. Sleep for the programmed duration Figure 3: sleep and awake phases The low-power mode can be enabled by setting the sleep_en bit in Reg. 0x0F (SPI) / 0x1E 2C) and by enabling the data ready interrupt (or any other interrupt, see chapter 5). The sleep duration can be configured via the sleep_dur bits in Reg 0x0F (SPI) / 0x1E (I2C). sleep_dur setting Sleep Duration 000 2ms 001 10ms 010 25ms 011 50ms 100 100ms 101 500ms 110 1s 111 2s Table 3: Sleep durations for low-power mode

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4.1.3 Low-power mode dimensioning

The power saving that can be achieved depends on the programmed sleep duration and the configured bandwidth. Figure 4 explains the power consumption in relation to the different ASIC states (sleep and awake phases). Figure 4: Sleep and awake phase If a low bandwidth is selected, the time required for filter settling might be the dominating time. Refer to table 2 for the appropriate dimensioning of the attainable current saving. Filter cut-off Settling time

32 Hz 16690µs

64 Hz 8690µs

125 Hz 4690µs

250 Hz 2690µs

500 Hz 1690µs

1000 Hz 1190µs

Table 4: Approximate awake phase times for 1 data sample

4.1.4 Channel activation / de-activation

In order to optimize further power consumption of the BMA220, data evaluation of individual axes can be deactivated. Per default, all three axes are active. If the user wants to disable one or more axes, the appropriate en_?_channel bits at address 0x0F (SPI) / 0x1E (I 2C) must be set to ‘0’.

4.1.5 Soft-reset

The BMA220 can be put into a soft-reset state by performing a read from the soft-reset address. To bring the chip back into operation, another read must be performed from the same memory address. The reading returns value 0xFF if the system was in soft reset mode; otherwise it returns value 0x00. Please note that all internal configuration data programmed by the user will be lost.

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4.1.6 Suspend mode

The BMA220 can be put into a suspend mode e. g. to easily achieve a power consumption below 1μA by performing a read from the suspend address. To bring the chip back into normal mode operation, another read must be performed from the same memory address. The reading returns value 0xFF if the system was in suspend mode, otherwise it returns value 0x00. Please note, that during suspend, all analog modules expect for power-on-reset will be disabled. Only reads through the serial interface are supported during suspend.

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4.2 Setting registers

4.2.1 Acceleration range and sensitivity setting

The BMA220 has four different range settings for the full scale acceleration range. In dependence of the use case always the lowest full scale range with the maximum resolution should be selected. Please refer to literature to find out, which full scale acceleration range, which sensitivity or which resolution is the ideal one. This can be configured via the register bits range[1:0] at address 0x11 (SPI) / 0x22 (SPI). The following table shows the range bits with corresponding scale and resolution. range[1:0] Full Scale Sensitivity Resolution Example use case ‘00’ ±2g 16 LSB / g 62.5mg / LSB Orientation recognition ‘01’ ±4g 8 LSB / g 125mg / LSB ‘10’ ±8g 4 LSB / g 0.25g / LSB Gaming ‘11’ ±16g 2 LSB / g 0.5g / LSB Shock vibration detection Table 5: Acceleration resolution

4.2.2 Filter and bandwidth configuration

The BMA220 has a digital filter that can be configured by setting the corresponding register bits filter_config[3:0] at address 0x10 (SPI) / 0x20 (I 2C). For compatibility reasons the settings are defined based on BMA120. To always ensure an ideal cut off frequency of the filter the BMA220 is adjusting the sample rate automatically. filter_config[3:0] 0x5 0x4 0x3 0x2 0x1 0x0 digital filter cut-off frequency 32Hz 64Hz 125Hz 250Hz 500Hz 1kHz Table 6: Digital filter configuration The internal SC-filter has a fix cut-off frequency at 1 KHz. In addition to the internal SC-filter a digital filter is available which is providing a filtered and an unfiltered data stream for all of the 3 axes of acceleration. If application specific reasons require a bandwidth configuration <32Hz, please contact your Bosch Sensortec representative.

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4.3 Data registers

4.3.1 Acceleration data read-out

The acceleration data can be read-out through addresses 0x02 (SPI) / 0x04 (I 2C) through 0x04 (SPI) / 0x08 (I2C). The acceleration data is in 2’s complement according to the table below. An efficient way to read out the acceleration data in I²C or SPI mode is the burst-accesses. During such an access, the BMA220 automatically increments the read address after each byte. By using this kind of access, the data transferred over the I²C bus can be reduced by up to 50%. Decimal value Acceleration (in 2g range mode) + 31 + 1.94g … … 0 0g … … -32 - 2.0g Table 7: Acceleration register content Per default, the bandwidth of the data being read-out is limited by the internal low-pass filters according to the filter configuration. However, it is possible to read-out data only 1st order filtered (1 kHz) even though the internal filters are configured differently. The reason for this feature is that the interrupt controller may operate on low-bandwidth data while the external master still needs to operate on high-bandwidth data. Unfiltered (1kHz high-bandwidth) data can be read-out through the serial interface when the serial_high_bw bit is set to ‘1’. Per default, filtered data is read-out through the serial interface.

4.3.2 Chip / revision ID

The chip ID and the revision ID can be read-out through addresses 0x00 (SPI & I 2C) and 0x01 (SPI) / 0x02 (I2C). Chip ID Revision ID 0xDD 0x00 Table 8: Chip and revision ID

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4.4 Interrupt control registers

The BMA220 features a programmable interrupt controller that directly supports common mobile applications like tap sensing detection, orientation recognition and any-motion detection. Supported types of interrupts:  Any-motion (slope) detection  Tap/double-tap sensing  Orientation recognition  Low-g detection  High-g detection  Data-ready interrupt The configuration and status register bits of all interrupt engines and the exact interrupt functionality are given in chapter 5.

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5 Interrupt controller

The BMA220 integrates a programmable interrupt controller. It can be configured via SPI/I 2C to monitor individual axes (X-, Y- and Z-axis) and c heck whether certain conditions apply (e.g. the acceleration on one axis exceeds a certain threshol d). The interrupt controller of the BMA220 is capable of checking for certain conditions simultaneously. If at least one of the configured conditions applies, an interrupt (logic ‘1’) is issued through the INT pin of the sensor. More details about the triggering condition (e.g. the type of the interrupt or the axis that triggered the interrupt) are saved in internal status registers and can be read out through the digital interface. It is recommended to reset the interrupt controller by setting reset_int to '1' when the interrupt settings has been set or changed. 5.1 Latched vs. non-latched modes The interrupt controller can be used in two modes  Latched mode: Once one of the configured interrupt conditions applies, the INT pin is asserted and must be reset by the external master through the digital interface.  Non-Latched mode: The interrupt controller clears the INT signal once the interrupt condition no longer applies. The interrupt output can be programmed by lat_int[2:0] to be either unlatched (‘000’) or latched permanently (‘111’) or have the latch time of 0.25s(‘001’)/0.5s(‘010’)/1s(‘011’)/2s(‘100’)/4s (‘101’)/8s(‘110’). The setting of these bits applies to all types of interrupts. Figure 5: Interrupt output Interrupt int from interrupt enigne interrupt output unlatched latched for certain time latched permanently latch time

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5.2 Supported types of interrupts

The following interrupt modes are provided by the BMA220.  Any-motion (slope) detection  Tap/double-tap sensing  Orientation recognition  Low-g detection  High-g detection  Data-ready interrupt

5.3 Power-saving modes

In order to reduce power consumption of the sensor itself, the BMA220 supports a low-power mode in which the ASIC wakes up periodically, checks whether any of the configured interrupt conditions apply and then either goes back to sleep (no interrupt) or stays awake (interrupt). The BMA220’s PMU (power management unit) controls the transitions from the ‘awake state’ into the ‘sleep state’ and vice versa. In normal mode, the interrupt controller is permanently turned on to continuously process the incoming data. In low-power mode, the interrupt controller will be turned on by the PMU once the chip has fully woken up. The time it takes before the sensor can go back to sleep is determined by the active interrupt engines. Once all active engines indicate that no interrupt condition applies, the PMU will switch the sensor back into sleep state (please refer to section 0 for more details). Furthermore the applied interrupt condition can be used not only to enable the low-power mode of the sensor itself but for the whole system. This enables a dramatically reduced power consumption of the whole system. The result is an extended operation and stand-by time e.g. of mobile devices in an order of magnitude.

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5.4 Any-motion (slope) detection

The any-motion detection uses the slope between two successive acceleration signals to detect changes in motion. It generates an interrupt when a preset threshold slope_th is exceeded. The threshold can be configured between 0 and the maximum acceleration value corresponding to the selected measurement range. The time difference between the successive acceleration signals depends on the bandwidth of the configurable low pass filter and corresponds roughly to 1/(2*bandwidth) (Δt=1/(2*bw)). In order to suppress failure signals, the interrupt is only generated if a certain number slope_dur of consecutive slope data points is above the slope threshold slope_th. If the same number of data points falls below the threshold, the interrupt is reset. The criteria for any-motion detection are fulfilled and the slope interrupt is generated if any of the enabled channels exceeds the threshold slope_th for slope_dur consecutive times. As soon as all the enabled channels fall or stay below this threshold for slope_dur consecutive times the interrupt is reset unless interrupt signal is latched. The any-motion interrupt logic sends out the signals of the axis that has triggered the interrupt (slope_first_x, slope_first_y, slope_first_z) and the signal of motion direction (slope_sign). When serial interface is active, any-motion detection logic is enabled if any of the any-motion enable register bits is set. To disable the any-motion interrupt, clear all the axis enable bits. In the dedicated wake-up mode ( 0), all three axes are enabled for any-motion detection whether the individual axis enable bits are set or not.

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1 LSB threshold is 1 LSB of acc_data

SLOPE_TH_N UM SLOPE_TH_INIT (“0001”) slope_dur 0x09[1:0] define the number of consecutive slope data points above slope_th which are required to set the interrupt SLOPE_DUR_ NUM SLOPE_DUR_INI T (“01”) slope_filt 0x09.6 defines wh ether filtered or unfiltered acceleration data should be used (evaluated) (‘0’=unfiltered, ‘1’=filtered) 1 ‘1’ slope_int 0x0C.0 whether slope interrupt has been triggered 1 ‘0’ slope_first_x slope_first_y slope_first_z whether x-axis has triggered the interrupt (0=no, 1=yes) whether y-axis has triggered the interrupt (0=no, 1=yes) whether z-axis has triggered the interrupt (0=no, 1=yes) 3 “000” slope_sign global register bit for all interrupts define the slope sign of the triggering signal (0=positive slope, 1=negative slope) 1 ‘0’ * For determining the corresponding I2C register address, please refer to figure 2 in chapter 4 (memory map) Table 9: Control and status register for any motion detection

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5.5 Tap sensing

Tap sensing has the same functionality as a common laptop touch-pad. If 2 taps occur within a short time, a pre-defined action will be performed by the system. If time between 2 taps is too long or too short no action happens. When the serial interface is activated, tap sens ing is enabled if any of the tap sensing enable register bits are set (en_tt_x, en_tt_y, en_tt_z). To disable the tap sensing interrupt, clear all the axis enable bits. When the preset threshold tt_th is exceeded, a tap-shock is detected. The tap sensing interrupt is generated only when a second tap is detected within a specified period of time. The slope between two successive acceleration data has to exceed tt_th to detect a tap-shock. The time difference between the two successive acceleration values depends on the bandwidth of the low pass filter. It roughly corresponds to 1/(2*bandwidth). The time delay tt_dur between two taps is typically between 12,5ms and 500ms. The threshold is typically between 0.7g and 1.5g in 2g measurement range. Due to different coupling between sensor and device shell (housing) and different measurement ranges of the sensor these parameters are configurable. The criteria for tap sensing are fulfilled and the interrupt is generated if the second tap occurs after tap_quiet and within tt_dur. The tap sensing direction is determined by the 1 st tap. During tt_quiet period (30ms) no taps should occur. If a tap occurs during tap_quiet period it will be connoted as new tap. The slope detection interrupt logic stores the direction of the (first) tap-shock in a status register. This register will be locked for tap_shock=50ms in order to prevent other slopes to overwrite this information. When a tap sensing interrupt is triggered, the signals of the axis that has triggered the interrupt (tt_first_x, tt_first_y, tt_first_z) and the signal of motion direction ( tt_sign) are stored in the corresponding registers. The axis on which the biggest slope occurs will trigger the first tap. The second tap will be triggered by any axis (not necessarily same as the first tap). The register tap_en defines whether single tap or double tap shall be detected. In dedicated tap sensing mode, all three axes are enabled for double tap sensing detection.

Rev. 1.10 Page 22 13 April 2011 © 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. Document is not intended for publication. Figure 7: Tap sensing interrupt detection When a tap-sensing interrupt is triggered, the following details can be read from the corresponding registers: the axis that has triggered the interrupt ( tt_first_x, tt_first_y, tt_first_z) and the motion direction of the triggering acceleration signal (tt_sign). tap shock=50ms tt_th single tap detection slope time 1st TAP tapq uiet = 30ms tt_dur = 12.5 ÷ 500 ms 2nd TAP tap shock=50ms tapq uiet = 30ms time double tap detection timee

Rev. 1.10 Page 23 13 April 2011 © 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. Document is not intended for publication. Name Register Address (SPI) * Description Number of bits Reset-value en_tt_x en_tt_y en_tt_z 0x0D.2 0x0D.1 0x0D.0 enable tap sensing detection on x-axis enable tap sensing detection on y-axis enable tap sensing detection on z-axis 3 “000” tt_th 0x08[6:3] define the threshold level of the tap sensing slope

1 LSB is 2*(LSB of acc_data)

TT_TH_NUM TT_TH_INIT “0110” tt_dur 0x08[2:0] define the maximum delay of the second tap after the shock suppression (50, 105, 150, 219, 250, 375, 500, 700)ms TT_DUR_NUM TT_DUR_INIT “101” tt_filt 0x08.7 defines whether filtered or unfiltered acceleration data should be used (evaluated) (‘0’=unfiltered, ‘1’=filtered) 1 ‘1’ tip_en 0x0A.4 whether tap or double-tap shall be detected (0= double tap, 1=tap) 1 ‘0’ tt_int 0x0C.4 whether tap sensing interrupt has been triggered (0=no, 1=yes) 1 ‘0’ tt_samp 0x0A[1:0] number of data to be sampled after wake- up ‘00’ => 2 data ‘01’ => 4 data ‘10’ => 8 data ‘11’ => 16 data 2 ‘00’ tt_first_x tt_first_y tt_first_z whether x-axis has triggered the interrupt (0=no, 1=yes) whether y-axis has triggered the interrupt (0=no, 1=yes) whether z-axis has triggered the interrupt (0=no, 1=yes) 3 “000” tt_sign give the slope sign of the triggering signal (0=positive, 1=negative) 1 ‘0’ * For determining the corresponding I2C register address, please refer to figure 2 in chapter 4 (memory map) Table 10: Control and status register for tap sensing

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5.6 Orientation recognition

The orientation recognition feature informs on an orientation change of the sensor with respect to the gravitational field vector g. The measured acceleration vector components with respect to the gravitational field look as follows. Figure 8: Definition of acceleration-vector components g x z y [with respect to graviational field vector g (black dot = pin 1 identifier) ] acc_z = 1g·cos The output register is called orient and defined in the following way: ‘0xx’ upward looking (z>0): ‘1xx’ downward looking (z<0), xx as before

Rev. 1.10 Page 25 13 April 2011 © 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. Document is not intended for publication. Figure 9: Orientation definition and interrupt thresholds with respect to the angle phi  The criteria for portrait/landscape switching is fulfilled and the interrupt is generated when the threshold |acc_y/acc_x|=1 is crossed (i.e. 45°, 135° , 225°, 315°). As soon as the interrupt is set, no new interrupt is generated within the hysteresis level of 0.66<|acc_y/acc_x|<1.66 corresponding to a hysteresis interval of 13% around the threshold. It is possible to block the orientation detection depending on certain conditions (no orientation interrupt will be triggered). This orientation interrupt blocking feature is configurable via the orient_blocking[1:0] bits in the following manner:  ‘00’  interrupt blocking is completely disabled  ‘01’  no interrupt is generated, when |z|>0.9g OR |x|+|y| < 0.4g OR when the slopes of the acceleration data exceeds 0.2g (sample-to-sample).  ‘10’  no interrupt is generated, when |z|>0.9g OR |x|+|y| < 0.4g OR while the slopes of the acceleration data exceeds 0.3g (sample-to-sample).  ‘11’  no interrupt is generated, when |z|>0.9g OR |x|+|y| < 0.4g OR while the slopes of the acceleration data exceeds 0.4g (sample-to-sample). For all states where interrupt blocking through slope detection is used, the interrupt should be re-enabled after the slope has been below the threshold for 3 times in a row. For all states where interrupt blocking is enabled, in order to trigger the interrupt, the orientation should remain the same (stable) until the timer runs out (for ~100ms). The timer starts to count when orientation changes between two consecutiv e samples. If the orientation changes while timer is still counting, the timer is restarted. The criteria for switching from upward to downward looking fulfilled and the interrupt is generated when the threshold z=0g is crossed. As soon as the interrupt is set, no new interrupt -1.5 -0.5 0.5 1.5 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 -1.5 -0.5 0.5 1.5 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

Rev. 1.10 Page 26 13 April 2011 © 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. Document is not intended for publication. The given specification is valid for an upright mounted PCB. In order to enable also horizontal mounting, x and z axis can be exchanged via the register orient_ex. The x-, y-, z-axis will keep right-hand principle after the exchange. When serial interface is active, orientation detection is enabled if the enable bit en_orient is set. To disable the orientation interrupt, clear the enable bit. When the dedicated orientation mode is active, the orientation is given by certain output pins corresponding to the above-given definition of the orient register. For details on the output pins see section 6.1. In case the orientation interrupt condition has been satisfied and interrupt is not latched, int signal is asserted for one data sampling period unless no-reset condition applies. Name Register Address (SPI) * Description Number of bits Reset-value orient_ex 0x09.7 exchange x- and z-axis in algorithm, i.e x or z is relevant axis for upward/downward looking recognition (0=z, 1=x) 1 ‘0’ Orient 0x0B[6:4] give the orientation of the sensor with respect to the gravitational force

3 ORIENT_INIT

‘000’ orient_int 0x0B.7 whether orientation interrupt has been triggered (0=no, 1=yes) 1 ‘0’ en_orient 0x0D.6 enable signal for orientation detection 1 ‘0’ orient_blockin g 0x0A Enable/configure orientation interrupt disable criteria. ‘00’ -> no slope, no wait ‘01’ -> no slope, wait-only (~100ms) ‘10’ -> wait 100ms + |z|-criteria, |x|+|y|-criteria and <0.2g slope ‘11’ -> wait 100ms + |z|-criteria, |x|+|y|- criteria and <0.4g slope 2 ‘10’ * For determining the corresponding I2C register address, please refer to figure 2 in chapter 4 (memory map) Table 11: Control and status register for orientation recognition

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5.7 Low-g detection

For freefall detection, the absolute values of the acceleration data of all axes are observed (global criteria). A low-g situation is likely to occur when all axes fall below a lower threshold low_th. The interrupt will be generated if the measured acceleration falls below the threshold and stays below the hysteresis level low_th+low_hy for a minimum number of data points (low_dur). Thus, the duration of a released interrupt is depending on the data sampling rate which is related to the bandwidth. Figure 10: Low-g interrupt detection acceleration low_dur counter value time time time low_th + low_hy low_th INT (not latched) not latched latched

Rev. 1.10 Page 28 13 April 2011 © 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. Document is not intended for publication. Name Register Address (SPI) * Description Number of bits Reset-value Low_th 0x06[7:4] define th e low-g threshold level LOW_TH_NUM LOW_TH_INIT “0100” Low_hy 0x07[7:6] define the low-g hysteresis level LOW_HY_NUM LOW_HY_INIT “01” low_dur 0x07[5:0] define the number of measured data which has to be lower than low_th+low_hy to set the interrupt (max. 64) LOW_DUR_NUM LOW_DUR_INIT “111111” (3F) en_low 0x0E.3 enable signal for low-g detection 1 ‘0’ low_int 0x0C.3 whether low-g interrupt has been triggered (0=no, 1=yes) 1 ‘0’ * For determining the corresponding I2C register address, please refer to figure 2 in chapter 4 (memory map) Table 12: Control and status register for low g detection

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5.8 High-g detection

For indicating high-g events, an upper threshold can be programmed. The threshold high_th, the hysteresis high_hy and the duration high_dur are defined analogously to the low-g interrupt. The interrupt is generated if one of the three channels exceeds the threshold hight_th and does not fall below hysteresis level high_th-high_hy for minimum number of data points (high_dur). When the high-g interrupt is triggered, the signals of the axis that has triggered the interrupt (high_first_x, high_first_y, high_first_z) and the signal of motion direction ( high_sign) will be stored in the corresponding status registers. Name Register address (SPI) * Description Number of bits Reset-value high_th 0x06[3:0] define the high-g threshold level HIGH_TH_NUM HIGH_TH_INIT “1110” high_hy 0x05[7:6] define the high-g hysteresis level HIGH_HY_NUM HIGH_HY_INIT “01” high_dur 0x05[5:0] define the number of measured signals which has to be higher than high_th+high_hy to set the interrupt (max. 64) HIGH_DUR_NUM HIGH_DUR_INIT “011111” (3F) en_high_x en_high_y en_high_z 0x0E.2 0x0E.1 0x0E.0 enable high-g detection on x-axis (0=disabled, 1=enabled) enable high-g detection on x-axis (0=disabled, 1=enabled) enable high-g detection on x-axis (0=disabled, 1=enabled) 3 “000” high_int 0x0C.2 whether high-g interrupt has been triggered (0=no, 1=yes) 1 ‘0’ high_first_ x high_first_ y high_first_ z whether x-axis has triggered the interrupt (0=no, 1=yes) whether y-axis has triggered the interrupt (0=no, 1=yes) whether z-axis has triggered the interrupt (0=no, 1=yes) 3 “000” high_sign give the slope sign of the triggering signal (0=positive, 1=negative) 1 ‘0’ * For determining the corresponding I2C register address, please refer to figure 2 in chapter 4 (memory map) Table 13: Control and status register for high g detection

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5.9 Data ready detection

This interrupt provides the possibility of synchronously reading out data from the BMA220 without missing a single data point. The data update detection monitors the data_update signals for all axes. It generates an interrupt as soon as the acceleration values for all enabled axes have been updated. The signal en_x_channel, en_y_channel and en_z_channel are the enable signals for the data conversion from each axis accordingly. The three enable signals can be configured by users (see section 0). For example, if all three axes are enabled, the interrupt is generated after updated signals for x-, y-, and z-axes have been detected. When data ready detection is activated, all other interrupts are not propagated to the INT pin. However their status can still be obtained from the appropriate registers. When the data-ready interrupt is not latched, the interrupt is cleared automatically after ~150μs. Name Description Number of bits Reset-value en_data enable signal for data-ready detection 1 ‘0’ data_int whether data-ready interrupt has been triggered (0=no, 1=yes) 1 ‘0’ Table 14: Control and status register for low g detection

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6 Operation modes

Depending on the configuration the BMA220 is able to operate in two different types of modes  General mode: A serial interface is active (SPI or I 2C). Several interrupt engines may be activated in parallel. Through the serial interface, the external master (e.g. μC) can configure the interrupts of the BMA220 and read-out information about the current interrupt status.  Dedicated mode: No serial interface is present. Internal default settings for all interrupt engines must be used. In these modes, only one interrupt engine can be active at a time. Currently, dedicated modes exist for the orientation interrupt, the tap sensing interrupt and the any-motion interrupt. The dedicated mode allows the sensor to be operated as a stand alone device, e.g. without any μC and without dealing with any acceleration data. So, in a very user friendly and convenient way taps/double-taps, orientation changes and wake-ups can be processed by a simple μC-less system. A flow chart of the different modes is depicted in figure 11: General mode with I2C reset Wake-up modeTip-tap mode Orientation mode Any of the dedicated mode invoked? Any-motion interrupt is enabled Tip-tap interrupt is enabled orientation interrupt is enabled One or more interrupts can be configured via I2C yes no PS = ´0´? General mode with SPI One or more interrupts can be configured via SPI yes no Figure 11: Interrupt modes

Rev. 1.10 Page 32 13 April 2011 © 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. Document is not intended for publication. Mode PS SCK INT SPI 0 I²C 1 Dedicated orientation Z 0 Dedicated tap sensing Z 1 0 Dedicated wake-up Z 1 1 Table 15: Mode selection Please note that the PS must be connected to the appropriate supply (or left floating) at start-up (reset). The “Z-detection” circuit will be turned off when a stable value at the PS pin has been detected. Thus, the dedicated modes can be only activated after reset. Switching from one interface mode to another during operation may work but can not be guaranteed by the ASIC. The reason for this limitation is that the circuitry for z-detection consumes several μA. For debugging/test purposes, turning-off the z-detection circuitry can be suppressed by setting the comp_always_on bit within the OTP memory range. 2 1 1 01 2 5 1 1 6347 8 , 9 SDI SDO CSB SCK INT PS CAP0 VDDIO VDDD VDDA GND SDI SDO CSB SCK INT GND NC VDDIO VDDD VDDA GND SDA NC CSB SCK INT GND NC VDDIO VDDD VDDA GND SDA NC I2C lsb_invert SCL INT VDDIO NC VDDIO VDDD VDDA GND Orientation ORIENT_0 ORIENT_1 sleep_time GND ORIENT_2 NC NC VDDIO VDDD VDDA GND Tap sensing SINGLE_TAP DOUBLE_TAP sleep on VDDIO GND NC NC VDDIO VDDD VDDA GND Wake-up WAKE_UP_INT NC sleep_time VDDIO VDDIO NC NC VDDIO VDDD VDDA GND I2C Dedicated mode (w/o μC); stand-alone Pin # Mode SPI 4 wire SPI 3 wire Table 16: Pin assignments for all operation modes

6.1 Dedicated Modes (μC-less / stand alone)

After reset (POR, soft-reset or reset pin) the system monitors the pin PS (Protocol Select). If the pin is unconnected, an internal module detects the floating state and enables one of the dedicated modes depending on the other select pins (SCK, INT). There are three different dedicated modes:  Orientation detection mode: only orientation interrupt detection is enabled.  Tap/double-tap detection mode: only tap sensing interrupt detection is enabled.  Wake-up detection mode: only wake-up interrupt detection is enabled In dedicated mode, the interrupt engine uses default settings for all configuration registers. Those default settings are loaded after reset and are listed in section 0. Changing the default

Rev. 1.10 Page 33 13 April 2011 © 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. Document is not intended for publication. configuration of the registers is not possible while the chip is in the dedicated mode. Currently, in orientation and wake-up mode, the user can select between two different sleep durations via the CSB pin: Dedicated Mode CSB Sleep duration 0 100ms Dedicated orientation 1 1s 0 10ms Dedicated wake-up 1 500ms

0 No sleep Dedicated tap-sensing 1 2ms

Table 17: Sleep durations for dedicated modes Dedicated Mode Bandwidth Dedicated orientation 32Hz Dedicated wake-up 16Hz Dedicated tap-sensing 1kHz Table 18: Filter bandwidths for dedicated modes

6.2 Digital interface modes

The BMA220 supports two different digital interf aces (SPI and I²C). The currently active general interface is determined by the primary input PS. The configuration of interrupt engines is fully customizable via the defined digital interface.  SPI Active Mode: The SPI interface is enabled while PS is externally connected to GND (logic ‘0’ detected).  I 2C Active Mode: The I²C interface is enabled while PS is externally connected to V DDIO (logic ‘1’ detected).

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6.3 Low-power mode and suspend mode

The BMA220 is optimized for low power consumption. Note: Simply switching-off of the power supplies (VDDD and/or VDDA) is not a defined low-power mode. The deactivation of V DDD while VDDA is active (or vice versa) is not recommended for permanent operation. With respect to the application it might be useful to switch-off V DDIO while V DDD and VDDA are active. This condition is supported and will lead to a reduction of current consumption. The sensor register map will be reset. To reduce current consumption in a defined way, the BMA220 supports two energy saving modes: a suspend mode and a low-power mode. During normal mode operation, all analog modules are held powered-up and the clock for all digital modules is active. During low-power mode, the analog modules in the rate channel are held powered down and the clock of the digital rate, filter and trimming modules is gated. The average typical current consumption during sleep phase (i low_power_mode) can be estimated by the following equation: First approximation: i sleep = isuspend Ø typ. awakesleep activeactivesuspendsleep epowerlow tt ititi  For sleep phase time setting (t sleep) refer to chapter 4.1.2 table 3. For approximate awake phase time (tawake) refer to chapter 4.1.3 table 4. For current consumption in normal mode (iactive) refer to chapter 1. For current consumption in suspend mode (isuspend) refer to chapter 1. Example: Bandwidth (BW) = 1kHz, nominal supplies  resulting awake phase for 1 st data sample (tawake) = 1190μs = 1.190ms  resulting sleep time (tsleep) = 50 ms Ø typ. µAmsms µAmsµAms tt ititi awakesleep activeactivesuspendsleep epowerlow 8,6190,150 250190,1150 mod__  

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6.4 Mode transition via interface

While the SPI or the I²C interfaces are active , transitions between the individual modes can be triggered via register accesses. 1. Low power: The BMA220 switches into low-power mode after setting the sleep_en register depicted in the memory map. While the BAA220 is in low-power mode, a period wake-up is performed (please refer to section 0). Normal mode operation is resumed after writing a ‘0’ to the sleep_en register. The sleep register is user accessible. 2. Suspend: The BMA220 is put into suspend mode by reading from the suspend address. A subsequent read switches back to the prev ious state. Concluding, a read from the suspend address toggles the suspend register. Figure 12: Energy saving mode transitions

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6.5 Self test mode

The sensor features an on-chip self-test mode. The se lf test is realized by a physical deflection of the seismic mass due to an applied electrostatic force. Thus, it provides full testing of the complete signal evaluation path including the micromachined sensor structure and the evaluation ASIC. The self test mode can be activated individually for each axis by setting the the sbist register to the corresponding value ( ‘01’=x-axis, ‘10’=y-axis, ‘11’=z-axis). The self test works in all acceleration ranges. By setting the sbist_sign register to ‘1’, the polarity of the self test signal can be changed from positive to negative. The self test response remains as a static offset on the output as long as the sbist register is not set back to ‘00’. While the self test is activated, any acceleration or gravitational force applied to the sensor will be observed in the output signal as a superposition of both acceleration and self test signal. Figure 13: Self-test mode self test response output signal [LSB] sbist register sbist_sign register

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7 Interfaces

The BMA220 can connect to the host system via three interfaces:  SPI (3-wire, 4-wire)  I²C  Dedicated mode pins (for μC-less- or stand-alone operation, see section 0) In SPI and I²C mode, the BMA220 supports two commands: read and write. The ASIC can be entirely controlled through those commands. A detailed register to address mapping can be found in section 0. It should be noted that there is no way to access internal control or configuration registers while the BMA220 is in one of its dedicated modes. In I²C and SPI mode, the internal registers can be accessed via a 7-bit address. Each read- and write-cycle accesses 8 bits only. BusSlave2 BusSlave1 BusGateway SPI I2C BusSlave0 I/O Bus BusAdapter Figure 14: BMA220 I/O bus concept The SPI and I²C interfaces are connected to the internal bus gateway which activates either one of the two interfaces according to the current mode. All internal digital modules accessible via the serial interfaces are called bus slave. Each slave is connected to the internal bus through a bus adapter.

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7.1 General digital interface description

In general there are two common digital protocols selectable, the serial interfaces I²C and SPI. By default, SPI is used in the standard 4-wire configuration. The SPI interface may be configured by SW to operate in 3-wire interface mode, instead of standard 4-wire mode. The two serial interfaces are mapped onto the same pads. An external pin is needed to switch between the interfaces. When this protocol select pin (PS) is connected to VSS, SPI is selected as the current interface; when the select pin is connected to V DDIO, I²C is used as the interface. When select pin is left floating, one of the dedicated modes is selected. The BMA220 doesn’t provide a functional analog output of the three axes since there is just CAP0 available in the package. PIN Name PIN description CSB SPI serial enable bar SCK/SCL SPI serial clock (SCK) I²C serial clock (SCL) SDI/SDO/SDA SPI serial data input (SDI) SPI serial data output in 3-wire SPI mode (SDO) I²C serial data (SDA) SDO SPI serial data output Table 19: Interface pin name

7.2 SPI interface

The SPI interface integrated in BMA220 is a slave SPI. 16-bit protocols are used for single byte reading and writing. Multiple bytes read-out is also possible. However, multiple bytes write is not supported. 4-wire SPI and 3-wire SPI are using same protocols. The communication starts with a read/write control bit followed by 7 bits address and at least 8 bits data. In case of reading out of acceleration data from all axes the chip prov ides the option to use an automatic incremented read command to read more than one byte (multiple read). This is activated when the SPI serial enable pin CSB is held low during the data readout. Thus data from next address will be automatically read out if the CSB are kept low for another 8 SPI clock cycles. 4-wire SPI protocol and timing 4-wire SPI is the default serial interface. It interacts with the outside world using CSB (chip select low active), SCK (serial clock), SDI (serial data input) and SDO (serial data output). 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. During the transitions on CSB, SCK must be high. SDI and SDO are driven at the falling edge of SCK and should be captured at the rising edge of SCK. Single byte write/read commands use 16-bits protocol. Bit0: Read/Write bit. When 0, the data SDI is written into the chip. When 1, the data SDO from the chip is read.

Rev. 1.10 Page 40 13 April 2011 © 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. Document is not intended for publication. CSB SCK T_setup_csb_4 T_hold_csb_4 SDI SDO T_delay_sdo_4 Figure 17: Timing diagram of 4-wire SPI cycle Parameter Symbol Condition Min Units CSB lead time T_setup_csb 10 CSB lag time T_hold_csb 10 SDI setup time T_setup_sdi 5 SDI hold time T_hold_sdi 5 SDO delay time T_delay_sdo C Load ≤ 50pF 30 (MAX) SCK period T_sck 100 ns Table 20: SPI Timing 3-wire SPI 3-wire SPI interface uses SDI pin for both data input and output. It can be invoked by setting the SPI3 register bit at address 0x0F. The write command for the 3-wire SPI is identical to the 4-wire SPI write command. When a read command is performed, output data are redirected to SDI pin after last address bit AD0 is latched. No extra clock cycle is needed for output redirection. Output data are synchronized at falling edge of SCK. Both input and output data shall be captured at rising edge of SCK.

Rev. 1.10 Page 41 13 April 2011 © 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. Document is not intended for publication. CSB SCK SDI R/W AD6 AD5 AD4 AD3 AD2 AD1 AD0 SDO DO2 DO0 DO4 DO3 DO1 DO5 DO7 DO6 tri-state Figure 18: 3-wire SPI read protocol

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7.3 I²C interface

The I²C interface on board is a slave bus. Two signal lines SCL and SDA are used for communication. SDA is a bidirectional line used for sending and receiving data to/from the interface. SCL is the serial clock line used to synchronize the data. Both lines are connected to VDD via pull-up resistors. So the lines are pulled high when the bus is free. The lines are low only when any of the transmitters drives ‘0’. The on-board I²C interface supports standard and fast-mode I²C. Important: The default slave address assi gned to the BMA220 is 000 1011. When in I²C mode, the LSB can be inverted by tying the CSB pin to ‘1’. This allows resolving conflicts with existing devices. Also, the 4 LSB can be configured via OTP. I²C protocol: Start and stop conditions (see Figure 19): Data transmission on the bus begins with a HIGH to LOW transition on SDA line while SCK 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. 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 SCK is held high. SCK SDA tSUSTA tSUSTO tHDSTA Figure 19: Waveform diagram for I²C start and stop conditions Parameter Symbol Condition Min Units START hold time T HDSTA 0.6 START setup time T SUSTA 0.6 STOP setup time T SUSTO 0.6 Internal hold time T HOLD_INT tf_SDA = 100 ns tf_SCL = 100 ns 0.3 (MAX) Clock to Data Out T VD_ACK tf_SDA = 100 ns tf_SCL = 100 ns 0.08 μs Table 21: I²C start/stop timing

Rev. 1.10 Page 43 13 April 2011 © 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. Document is not intended for publication. Acknowledge: Each byte of data transferred must be acknowl edged. 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. SDA By transmitter SCK Start condition S SDA By receiver 9 8 2 1 Acknowledge Not Acknowledge Clock pulse for acknowledgement Figure 20: Waveform diagram for I²C acknowledgement on SDA Data Transfer: Each data bit transferred via SDA line must remain stable during high period of SCK pulse.

Rev. 1.10 Page 44 13 April 2011 © 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. Document is not intended for publication. SDA SCK Change of data allowed Data line stable, data valid Tsudat Thddat Figure 21: Waveform diagram for one bit transfer with I²C interface # Parameter Symbol Min Max Units 1 DATA hold time T HDDAT 0 0.9 2 DATA setup time T SUDAT 0.1 - μs Table 22: I²C data transfer timing The first byte of data transmitted after start condition contains the 7-bit address of I²C slave. The 8th bit is an R/W bit which tells whether the master wants to read (R/W = 1) or write (R/W = 0) data from/to the slave. Once the slave is addressed, it sends a low active acknowledge bit and accepts the following data transferred by master. Otherwise it aborts the current data transfer and waits for the start condition of next data transmission. I²C write command: I²C write command only supports one byte writing. The protocol begins with start condition generated by master, followed by 7bits slave address and a write bit (R/W = 0). The slave sends an acknowledge bit (ACK = 0) and releases the bus. Then master sends the one byte register address (only the first 7bits are the valid address bits, the LSB shall be ignored). The slave shall again acknowledge the transmission and wait for the 8bits data which shall be written to the specified register address. After slave acknow ledges the data byte, master generates a stop signal and terminates the writing protocol. Data transferred by Master Data transferred by Slave

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7.4 I²C watchdog timer

In order to prevent the built-in I²C slave to lock-up the I²C bus, a watchdog timer (WDT) is introduced. The WDT observes internal I²C signals and resets the I²C interface if the bus is locked-up by the BMA220. The WDT observation period and WDT on/off can be configured through interface registers. WDT_TO_en WDT_TO_sel WDT function

0 X OFF

Table 23: WDT settings

7.5 SPI and I²C access restrictions

The required wait time after a write-cycle depends on whether the power-saving (sleep) mode is currently active. In case the low-power mode is active, the internal clock frequency is reduced and thus the required wait time increases. Protocol Access Normal mode Low-power mode I2C / SPI Write >3 μsec >300 μsec I2C / SPI Read >2 μsec >2 μsec Table 24: Required wait times after write / before read access Figure 24: Post-Write access timing constraints Figure 25: Pre-read access timing constraints Please note that this read-constraint only applies to read-outs of the same axes. Reading out the three axes in a back-to-back transfer is possible!

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8 Pin-out and connecting diagram

8.1 Pin-out

Figure 26: Pin-out of the BMA220 (top view) Table 25: Pin description Pin# Name Type Description Connect to (in SPI 4w) Connect to (in SPI 3w) Connect to (in I²C)

1 SDO Digital Out SPI serial data output SDO NC NC

2 SDx Digital I/O SDA for I2C serial data in-/output

SDI for serial data input (SPI 4-wire mode) SDA serial data in-/output (SPI 3-wire mode) SDI SDA SDA

3 VDDIO Supply I I/O supply voltage

4 VDDD Supply I Power supply for digital domain VDDD VDDD VDDD

5 INT Digital I/O Interrupt output INT INT INT

6 CAP0 DNC Do not connect! Pin reserved for factory trimming NC NC NC

7 VDDA Supply I Power supply for analog domain VDDA VDDA VDDA

8 GND Ground Shared ground for digital, I/O and analog GND GND GND

9 GND Ground Shared ground for digital, I/O and analog GND GND GND

10 CSB Digital In Chip-select for SPI mode. Address-select for I2C mode, see chapter 8.3. Pin must not float. CSB CSB CSB

11 PS Digital In Protocol select pin (0=SPI, 1=I2C, float = μC-

less); pin must not float unless dedicated mode is used, see chapter 6.1. GND GND VDDIO

12 SCK Digital In SCK for SPI serial clock

For further details on the recommended connection for the use of the BMA220 without μController (i.e. in dedicated I/O modes) please refer to table 16 in chapter 6.

Rev. 1.10 Page 48 13 April 2011 © 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. Document is not intended for publication. VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nFC=100nF IO 1.62-3.6V digital 1.8V analog 1.8V BMA220 (top view) Setup 1 I²C / SPI VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nFC=100nF IO 1.62-3.6V digital 1.8V analog 1.8V BMA220 (top view) BMA220 (top view) Setup 1 I²C / SPI VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nF analog + digital + IO 1.8V BMA220 (top view) Setup 2 I²C VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nF analog + digital + IO 1.8V BMA220 (top view) BMA220 (top view) Setup 2 I²C

8.2 Connecting diagrams

Figure 27: BMA220 electrical connecting diagram setup options

Rev. 1.10 Page 49 13 April 2011 © 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. Document is not intended for publication. VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nF digital + IO 1.8V analog 1.8V Setup 3 I²C / SPI BMA220 (top view) VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nF digital + IO 1.8V analog 1.8V Setup 3 I²C / SPI BMA220 (top view) BMA220 (top view) VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nF IO 1.62-3.6V analog + digital 1.8V Setup 4 I²C / SPI BMA220 (top view) VDDIO VDDD VDDA GND GND SDO SDI INT CAP0 CSB PS SCK GND C=100nFC=100nF IO 1.62-3.6V analog + digital 1.8V Setup 4 I²C / SPI BMA220 (top view) BMA220 (top view)

Rev. 1.10 Page 50 13 April 2011 © 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. Document is not intended for publication. In order to prevent noise on the supply pins V DDA, VDDD and VDDIO it is recommended to use low- leakage blocking capacitors with 100nF. The capacitors should be placed close to the respective pins as shown in figure 27. V DDD, VDDA and V DDIO can be connected according to the given diagrams, also to one common power supply within the specified range as long as the following requirement is met:  For V DDA the voltage noise level must not exceed 100mVpp for signals below 1kHz and must not exceed 10mVpp for signals above 1kHz. In case SPI communication is used, it is recommended to apply a connection in accordance with diagrams as shown in setup 1, setup 3 or setup 4.

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9 Package

9.1 Outline dimensions

The sensor housing is a standard LGA package. It is compliant with JEDEC Standard MO-229 Type VGGD-3. Its dimensions are the following. Figure 28: Outline dimensions (in mm)

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9.2 Sensing axes orientation and polarity of the acceleration output

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 working 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 +x top side gravity vector Figure 29: Orientation of sensing axes 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. Sensor Orientation (gravity vector ) Output Signal X 0g / 0LSB 1g / 16LSB 0g / 0LSB -1g / -16LSB 0g / 0LSB 0g / 0LSB Output Signal Y -1g / -16LSB 0g / 0LSB +1g / 1.8V 0g / 0LSB 0g / 0LSB 0g / 0LSB Output Signal Z 0g / 0LSB 0g / 0LSB 0g / 0LSB 0g / 0LSB 1g / 16LSB -1g / -16LSB Table 26: Output signals depending on sensor orientation upright upright

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9.3 Landing pattern recommendation

As for the design of the landing patterns, the following recommendations can be given: Figure 30: Landing patterns relative to the device pins, dimensions are in mm

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9.4 Marking

9.4.1 Mass production samples

Figure 31: Marking of mass production samples Labeling Name Symbol Remark Lot counter CCC Product number T T = 2 Sub-con ID L 1 digit alphanumerical, code to identify sub-con and plant , L = A or L = U or L = P Pin 1 identifier •

9.4.2 Engineering samples

Figure 32: Marking of engineering samples Labeling Name Symbol Remark Eng. sample ID N Engineering Samples are always marked with N = “e” Date code WW calendar week Lot counter CC e.g. Eng. marking F1, F2 … C1, C2 Pin 1 identifier • NWW CC CCC TL

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9.5 Moisture sensitivity level and soldering

The moisture sensitivity level of the BMA220 sensors corresponds to JEDEC Level 1, see also - IPC/JEDEC J-STD-020C "Joint Industr y 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 r equirements of the above-mentioned IPC/JEDEC standard, i.e. reflow soldering with a peak temperature up to 260°C.

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9.6 Tape and reel specification

The BMA220 is shipped in a standard cardboard box. The box dimension for 1 reel is: L x W x H = 35cm x 35cm x 6cm BMA220 quantity: 10,000pcs per reel, please handle with care. Figure 33: reel dimensions in mm

9.7 Orientation

Figure 34 shows the orientation of the BMA220 devices relative to the tape.  Processing direction 

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9.8 RoHS compliancy

The BMA220 sensor meets the requirements of the EC restriction of hazardous substances (RoHS) directive, see also: Directive 2002/95/EC of the European Parliament and of the Council of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment.

9.9 Halogen content

Results of chemical analysis indicate that the BMA220 contains less than 900ppm (by weight) of Fluorine, Chlorine, Iodine and Bromine (i.e. < 50ppm per each substance). Therefore the BMA220 can be regarded as halogen-free. For mo re details on the analysis results please contact your Bosch Sensortec representative.

9.10 Note on internal package structure

Within the scope of Bosch Sensortec’s ambition to improve its products and secure the product supply while mass production, Bosch Sensortec qualifies additional sources for the LGA package of the BMA220. While Bosch Sensortec took care that all of the technical packages parameters are described above are 100% identical for both 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 BMA220 product.

9.11 Handling instruction

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 elec trostatic discharges or electric fields (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.

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10 Legal disclaimer

10.1 Engineering samples

Engineering Samples are marked with an “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 t he 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 sensit ive 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 fr om 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.

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11 Document history and modification

Rev. Chapter Description of modification/changes Date

0.9 All Document creation 01-Dec-2008

0.91 All Total document update 20-Aug-2009

0.92 1 Introduced resolution in table 1 20-Oct-2009

2 Updated and extended table 2

9.1 Changed “VSS” to “GND”

9.2 Changes recommended capacitor for V DDA to 100nF

9.2 Added recommendation, modified fig. 28

10.6 Updated quantity per reel

0.93 1 Introduced resolution, current + timings in table 1 21-Dec-2009 4 Updated global memory map incl. note

4.1.5 Updated soft-reset description

4.1.6 Updated suspend description

5.5 Updated table 10

6 New table 16

6.3. Introduced current consum ption estimation in low power mode

7 Removed

ex 8.3 new 7.3 Updated I 2C in fig. 23 ex 8.5 new 7.5 New table ex 9.1 new 8.1 Changed “VSS” to “GND”, introduced “not float” indication New table 25 ex 9.2 new 8.2 Changes recommended capacitor for V DDA to 100nF ex 9.2 new 8.2 Added recommendation, modified fig. 27 ex 10.6 new 9.6 Updated quantity per reel + figures ex 10.8 new 9.8 Added < 50ppm each substances 1.00 1 Clarified names of operat ion names, introduced voltage input and output levels updated TCO, TCS, current, noise, temperature range, non-linearity, cross axis sensitivity and self test response in table 1 14-Apr-2010

4 Introduced default content in global memory map

4.1.2 Update chapter name / wordings

4.1.3 Update chapter name / wordings

6.3 Update chapter name / wordings

7.2 Update of tables 20 and 21

All Changed naming from “sleep mode” to “low-power mode”

1.01 Title Changed technical reference codes 28 May 2010

1 Updated zero-g offset values

9.4.1 Updated product number

6.1, 7.2 Active “1” level = V DDIO 1.10 4.3.1 Update table 7 13 April 2011

7.3 Update figures 22 and 23

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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-BMA220-DS003-07 Version_1.10_042011