BMI270

Bosch Sensortec GmbH

6-axis, smart, low power Inertial Measurement Unit for high-performance applications March 2023

Manufacturer: Bosch Sensortec GmbH

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Document revision 1.5 Document release date March 2023 Document number BST-BMI270-DS000-07 Sales Part Number 0 273 017 008 Notes Data and descriptions 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 appearance. BMI270 6-axis, smart, low power Inertial Measurement Unit for high-performance applications

Bosch Sensortec | BMI270 Datasheet 2 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Basic Description The device is a highly integrated, low power inertial measurement unit (IMU) that combines precise acceleration and angular rate (gyroscopic) measurement with intelligent on-chip motion-triggered interrupt features. The device integrates  16 bit digital, triaxial accelerometer with ±2g/±4g/±8g/±16g range  16 bit digital, triaxial gyroscope with ±125dps/±250dps/±500dps/±1000dps/±2000dps range in a compact standard size LGA mold package, 14 pins, footprint 2.5x3.0mm², height 0.83mm Key features  Output data rates (ODR): 25 Hz … 6.4 kHz (gyroscope) and 0.78 Hz … 1.6 kHz (accelerometer)  Programmable low-pass filter (accelerometer ∣ gyroscope): bandwidth 5.5 ∣ 11 … 740 ∣ 751 Hz  Wide power supply range: Analog VDD 1.71V … 3.6V and independent VDDIO 1.2V…3.6V  Low current consumption: typ. 685 µA (in full ODR and aliasing free operation)  Performance mode for gyroscope to minimize noise level: typ. < 7 mdps /√Hz.  Built-in power management unit (PMU) for advanced power management and low power modes  Rapid startup time: 2 ms for gyroscope (in fast start mode) and 2 ms for accelerometer  Freely configurable secondary digital interface  I²C (Fm+) master interface hub for 1 I2C AUX sensor (e.g. ext. magnetometer, pressure) o data synchronized to IMU  10 MHz slave SPI (4-wire, 3-wire) for high speed, calibration free OIS / Dual OIS (SPI) applications o Up to 6.4 kHz ODR, control register access and down to 680 µs group delay o Connectible latency optimized low pass-filters with programmable cut-off frequencies  2 KB on-chip FIFO buffer for accelerometer, gyroscope, timestamps, and AUX sensor data  Fast offset error compensation for accelerometer and gyroscope  Fast sensitivity error compensation for gyroscope (CRT, reducing the error down to typ. 0.4 %)  HW synchronization of accelerometer, gyroscope, and AUX sensor (< 1 µs)  Sensortime stamps for accurate system (host) and sensor (IMU) time synchronization (<40 µs)  2 independent programmable I/O pins for interrupt and synchronization events  RoHS compliant, halogen and lead free  BMI270 Features: Significant motion/Any motion/Motion detect/No motion/Stationary detect/Wrist wear wakeup/Wrist worn step counter and detector/Activity change recognition/Push arm down/Pivot up/Wrist jiggle/Flick in /out

Bosch Sensortec | BMI270 Datasheet 3 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Typical Applications  Wearables  Hearables  Smart clothing  Augmented / virtual reality (AR/VR)  Activity & Context Recognition Target Devices  Fitness trackers, wristbands, smart watches  Earbuds, ankle bands, neck bands  Smart clothes  Augmented and virtual reality glasses and controllers

Bosch Sensortec | BMI270 Datasheet 4 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Table of Contents

Bosch Sensortec | BMI270 Datasheet 5 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

Bosch Sensortec | BMI270 Datasheet 6 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

Bosch Sensortec | BMI270 Datasheet 7 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

Bosch Sensortec | BMI270 Datasheet 8 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

Bosch Sensortec | BMI270 Datasheet 9 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

Bosch Sensortec | BMI270 Datasheet 11 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

1 Specification

Unless stated otherwise, the given values are over lifetime, operating temperature and voltage ranges. Minimum/maximum values are ±3. Table 1: Basic electrical parameter specifications Operating Conditions Parameter Symbol Condition Min Typ Max Units Supply Voltage Core Domain VDD 1.71 1.8 3.6 V Supply Voltage I/O Domain VDDIO 1.2 1.8 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 VDDIO>=1.62V, IOL<=2mA, SPI 0.2VDDIO - VDDIO<1.62V, IOL<=1.5mA, SPI 0.2VDDIO - Voltage Output High Level VOH VDDIO>=1.62V, IOH<=2mA, SPI 0.8VDDIO - VDDIO<=1.62V, IOH<=1.5mA, SPI 0.8VDDIO - Current consumption IDD A+G Performance Mode VDD= 1.8 V, TA=25°C, ODRmax 970 µA A+G Normal Mode VDD= 1.8 V, TA=25°C, ODRmax 685 A+G Low Power Mode VDD= 1.8 V, TA=25°C, ODR25Hz 420 Aonly Normal Mode VDD= 1.8 V, TA=25°C, ODRmax 210 Aonly Low Power Mode VDD= 1.8 V, TA=25°C, ODR25Hz A+G Suspend mode, VDD= 1.8 V, TA=25°C 3.5 Advanced features VDD= 1.8 V, TA=25°C, depends on enabled feature set Power on time tPO Time from supply “on” to SPI or I2C I/F operational 2 ms Non-volatile memory (NVM) write-cycles nNVM Using nvm_prog cmd 14 cycles Operating Temperature TA -40 +85 °C

Bosch Sensortec | BMI270 Datasheet 12 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Table 2: Characteristics of Accelerometer Operating Conditions Accelerometer Parameter Symbol Condition Min Typ Max Units Acceleration Range gFS2g Selectable via serial digital interface g gFS4g ±4 gFS8g ±8 gFS16g ±16 Start-up time tA,SU Suspend to normal mode VDD= 1.8 V, TA=25°C, ODRmax 2 ms Output Signal Accelerometer Parameter Symbol Condition Min Typ Max Units Resolution 16 bit Sensitivity S2g gFS2g, TA=25°C 16384 LSB/g S4g gFS4g, TA=25°C 8192 S8g gFS8g, TA=25°C 4096 S16g gFS16g, TA=25°C 2048 Sensitivity Error SA_err_8g TA=25°C, nominal VDD soldered, over life time ±0.4 % Sensitivity Temperature Drift TCSA full TA range, nominal VDD best fit straight line 0.004 %/K Sensitivity Supply Volt. Drift SA,VDD TA=25°C, full VDD range soldered, over life time 0.0001 %/V Zero-g Offset OffA,life TA=25°C, nominal VDD soldered, over life time ±20 mg Zero-g Offset Temperature Drift TCOA full TA range, nominal VDD best fit straight line ±0.25 mg/K Zero-g Offset Supply Volt. Drift OffA,VDD TA=25°C, full VDD range soldered, over life time <0.5 mg/V Power supply rejection ratio Off_PSRRA 100Hz – 1 MHz sine wave, 50mV < 8 mg/50mV Output Noise nA,nd Normal mode TA = 25°C, nominal VDD, range = 8g 0.16 mg/Hz nA,rms Normal mode TA=25°C, nominal VDD, BW = 80 Hz ODR = 200 Hz range = 8g 1.51 mg-rms Nonlinearity NLA TA=25°C, nominal VDD, best fit straight line gFS2g 0.5 %FS Output Data Rate ODRA,n Normal mode 12.5 1600 Hz ODRA,lpm Low-power mode 0.78 400 ODR Accuracy OAcyA,n Normal mode, variation part to part, TA=25°C, nominal VDD, Accel only operation Normal mode, variation part to part, TA=25°C, 1.7

Bosch Sensortec | BMI270 Datasheet 13 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Output Signal Accelerometer Parameter Symbol Condition Min Typ Max Units nominal VDD, IMU operation OAcyA,n,T Normal mode, variation full TA range, same part nominal VDD, Accel only operation 0.03 %/K Normal mode, variation full TA range, same part nominal VDD, IMU operation 0.0037 Bandwidth (BW) in normal mode ODRA,12.5 3dB cutoff frequency of the accelerometer TA=25°C, nominal VDD, Filter setting [acc_bwp] = 0x02 5.5 Hz ODRA,25 11 ODRA,50 22 ODRA,100 44 ODRA,200 89 ODRA,400 178 ODRA,800 343 ODRA,1600 740 Mechanical Characteristics Accelerometer Parameter Symbol Condition Min Typ Max Units Cross Axis Sensitivity SXA Relative contribution between any two of the three axes 1 % Alignment Error EA Relative to package outline 0.5 ° Zero-g offset over PCB strain OffA,PCB TA=25°C, nominal VDD soldered,  5 parts ±0.010 mg/µstrain Table 3: Gyroscope Characteristics Operating Conditions Gyroscope Parameter Symbol Condition Min Typ Max Units Range RFS125 Selectable via serial digital interface 125 dps RFS250 250 RFS500 500 RFS1000 1,000 RFS2000 2,000 Start-up time tG,SU suspend to normal mode repeated, VDD = 1.8 V, TA=25°C, ODRmax ms tG,FSU fast start mode VDD = 1.8 V, TA=25°C, ODRmax

Bosch Sensortec | BMI270 Datasheet 14 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Output Signal Gyroscope Parameter Symbol Condition Min Typ Max Units Resolution 16 bit Sensitivity RFS2000 Ta=25°C 16.384 LSB/dps RFS1000 Ta=25°C 32.768 RFS500 Ta=25°C 65.536 RFS250 Ta=25°C 131.072 RFS125 Ta=25°C 262.144 Sensitivity Error SG_err TA=25°C, nominal VDD soldered, over life time ±2 % SG_err_CRT TA=25°C, nominal VDD soldered, after CRT1 ±0.4 Sensitivity Temperature Drift TCSG full TA range, nominal VDD best fit straight line 0.02 %/K Sensitivity Supply Volt. Drift SG, VDD TA=25°C, full VDD range soldered, over life time 0.0005 %/V Zero-rate Offset , oL TA=25°C, nominal VDD soldered, over life time ±0.5 dps Zero-rate offset change over temperature TCOG Nominal VDD supplies best fit straight line ±0.015 dps/K Zero-g Offset Supply Volt. Drift OffG,VDD TA=25°C, full VDD range soldered, over life time 0.02 dps/V Power supply rejection ratio Off_PSRRG 100 Hz – 1 MHz sine wave, 50mV 0.40 dps/50mV Output Noise nG,nd Performance mode TA=25°C, nominal VDD 0.007 dps /√Hz Normal mode TA=25°C, nominal VDD 0.010 dps /√Hz nG,rms Performance mode TA=25°C, nominal VDD, BW = 74.6 Hz ODR = 200 Hz 0.07 dps-rms Normal mode TA=25°C, nominal VDD, BW = 74.6 Hz ODR = 200 Hz 0.09 dps-rms Nonlinearity NLG TA=25°C, nominal VDD, best fit straight line RFS250, RFS2000 0.01 % FS Output Data Rate ODRG,n,hp Normal and performance mode 25 6400 Hz ODRG,lpm Low-power mode 25 100 ODR Accuracy OAcyG,n Normal and performance mode, TA=25°C, nominal VDD 1.7 % OAcyG,n,T Normal mode, full TA range, same part, nominal VDD 0.0037 %/K 1 See section 4.14 for details.

Bosch Sensortec | BMI270 Datasheet 15 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Bandwidth (BW) in normal and performance mode ODRG,25 3dB cutoff frequency of the gyroscope, TA=25°C, nominal VDD Filter setting [gyr_bwp] = 0x02 11 Hz ODRG,50 20 ODRG,100 39 ODRG,200 77 ODRG,400 152 ODRG,800 300 ODRG,1600 557 ODRG,3200 751 ODRG,6400 712 Mechanical Characteristics Gyroscope Parameter Symbol Condition Min Typ Max Units Cross Axis Sensitivity SXG Relative contribution between any two of the three axes 2 0.2 % Alignment Error EG,A Relative to package outline 0.5 ° Zero-g offset over PCB strain OffG, PCB TA=25°C, nominal VDD soldered,  5 parts ±1.5 mdps /μstrain g-Sensitivity Sensitivity to static acceleration stimuli in all three axis 0.1 dps/g Table 4: Electrical Characteristics of Temperature Sensor Operating Conditions and Output Signal of Temperature Sensor Parameter Symbol Condition Min Typ Max Units ADC Resolution 16 bits Temperature Sensor Measurement Range TS -41 87 °C Output at 23 °C 0 LSB Sensitivity ST 512 LSB/K Output Data Rate Temperature Sensor ODRT,G Normal mode and performance mode, TA=25°C, nominal VDD, Gyroscope on 100 Hz ODRT All other modes incl. low power mode 0.78 ODR Accuracy Temperature Sensor OAcyT,G Normal mode and performance mode, TA=25°C, nominal VDD, Gyroscope on <1.5 % OAcyT All other modes incl. low power mode 1.5 2 For details see section 4.6 Gyroscope DataPost-Processing

Bosch Sensortec | BMI270 Datasheet 16 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

2 Absolute maximum ratings

Stress above these limits may cause damage to the device. Exceeding the specified electrical limits may affect the device reliability or cause malfunction. Table 5: Absolute maximum ratings Parameter Condition Min Max Units Voltage at Supply Pin VDD Pin -0.3 4 V VDDIO Pin -0.3 4 V Voltage at any Logic Pin Non-Supply Pin -0.3 VDDIO+0.3, <4 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 ≤ 200 µs 20,000 g Duration ≤ 1.0 ms 2,000 g Free fall onto hard surfaces 1.8 m ESD according JESD47 HBM at any pin 2 kV CDM 500 V MM JESD22A115C 200 V

Bosch Sensortec | BMI270 Datasheet 17 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

3 Quick Start Guide

The purpose of this section is to help developers who want to start working with the device by giving you some very basic hands-on application examples to get started. Note about using the device The communication between application processor and the device will happen either over I2C or SPI interface. Each register read operation includes dummy bytes:  I2C: 0  SPI: 1 For simplicity the dummy bytes are not shown in the examples below. For more information about the interfaces, see Section 6. The device is configured for advance power save mode after POR or soft reset. For details on the interface operation in advanced power save mode, see the description of Register PWR_CONF.adv_power_save in Section 5. Before starting the test, the device has to be properly connected to the maste r (AP) and powered up. For more information about it, read the related Section 7. First application setup examples algorithms: After power up by setting the corre ct voltage to the appropriate external pins, the device enters automatically into the Power On Reset (POR) sequence. In order to properly make use of the device, certain steps from host processor side are needed. The most typical operations will be explained in the following application examples in form of flow diagrams. 1. Testing communication and initializing the device a. Reading CHIP_ID (0x24) (checking correct communication). The interface is coming up configured for I2C, the initial dummy read configures it to SPI.

Bosch Sensortec | BMI270 Datasheet 18 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 b. Performing initialization sequence 3 End start disable PWR_ CONF.adv_power_save write_reg(addr=0x7C,val=0x00) wait for 450us sleep(450us) prepare config load INIT_CTRL=0x00 write_reg(addr=0x59,val=0x00) load config file and save as array init_array[]=read_file(init_file) burst write to reg INIT_DATA Start with byte 0 burst_write_reg(addr=0x5E,val=init_array[]) complete config load INIT_CTRL=0x01 write_reg(addr=0x59,val=0x01) 450us is the minimum duration (>= 450us is recommended wait time) 3 bmi270_config_file: https://github.com/BoschSensortec/BMI270-Sensor-API/blob/master/bmi270.c

Bosch Sensortec | BMI270 Datasheet 19 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 c. Checking the correct initialization status End start wait >= 20ms read INTERNAL_STATUS init_status=read_reg(0x21) check bit 0 of INTERNAL_STATUS init_status.0 = 1 ? initialization: OK initialization: ERROR Yes No

Bosch Sensortec | BMI270 Datasheet 20 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 2. Configuring the device for low power mode Setting data processing parameters (power, bandwidth, range) and reading sensor data End start PWR_CTRL: enable acquisiton of acceleration data. disable the auxiliary interface, gyroscope data, temperature sensor data write_reg(addr=0x7D,val=0x04) ACC_CONF: disable the acc_filter_perf bit; set acc_bwp to 2 repetitions; set acc_odr to 50 Hz write_reg(addr=0x40,val=0x17) PWR_CONF: enable the adv_power_save bit; leave the fifo_self_wakeup enabled write_reg(addr=0x7C,val=0x03) DATA_8 to DATA_13: read sensor data accel_data[]=burst_read(addr=0x0C, bytes=6)

Bosch Sensortec | BMI270 Datasheet 21 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 3. Configuring the device for normal power mode Setting data processing parameters (power, bandwidth, range) and reading sensor data End start PWR_CTRL: enable acquisiton of acceleration, gyroscope and temperature sensor data. disable the auxiliary interface. write_reg(addr=0x7D,val=0x0E) GYR_CONF: enable the gyr_filter_perf bit; set gyr_bwp to normal mode; set gyr_odr to 200 Hz write_reg(addr=0x42,val=0xA9) PWR_CONF: disable the adv_power_save bit; leave the fifo_self_wakeup enabled write_reg(addr=0x7C,val=0x02) DATA_8 to DATA_19 read sensor data accel_gyr_data[] = burst_read(addr=0x0C, bytes=12) ACC_CONF: enable the acc_filter_perf bit; set acc_bwp to normal mode; set acc_odr to 100 Hz write_reg(addr=0x40,val=0xA8)

Bosch Sensortec | BMI270 Datasheet 22 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 4. Configuring the device for performance mode Setting data processing parameters (power, bandwidth, range) and reading sensor data End start PWR_CTRL: enable acquisiton of acceleration, gyroscope and temperature sensor data. disable the auxiliary interface. write_reg(addr=0x7D,val=0x0E) GYR_CONF: enable the gyr_filter_perf bit; enable gyr_noise_perf bit; set gyr_bwp to normal mode; set gyr_odr to 200 Hz write_reg(addr=0x42,val=0xE9) PWR_CONF: disable the adv_power_save bit; leave the fifo_self_wakeup enabled write_reg(addr=0x7C,val=0x02) DATA_8 to DATA_19 read sensor data accel_gyr_data[] = burst_read(addr=0x0C, bytes=12) ACC_CONF: enable the acc_filter_perf bit; set acc_bwp to normal mode; set acc_odr to 100 Hz write_reg(addr=0x40,val=0xA8) Further steps: The device has many more capabilities that are described in this document and include FIFO, power saving modes, synchronization capabilities with host processor, data synchronization and integration with third party sensors (see Section 4).

Bosch Sensortec | BMI270 Datasheet 23 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4 Functional Description and Features

This section contains references to the registers of the device. A detailed description of the registers including addresses, bit fields, and values is given in Section 5.

4.1 System Configurations

The device has 14 external I/F pins and supports the SPI and I2C protocols on its primary interface to the host system. The device supports on its secondary interface (I2C master) an auxiliary sensor configuration (e.g. a magnetometer, see Section 4.10) or an external OIS interface (see Section 4.11). Both configurations work independent of the configuration (SPI/I2C) of the primary interface. If the secondary I/F is configured as AUX I/F, the sensor data of the IMU and the AUX sensor are synchronized. The device includes two sensors, an accelerometer and a gyroscope. The accelerometer measures the direction and magnitude of the force applied to the sensor, reporting zero in a free fall scenario. The gyroscope measures the rotation rate, reporting zero at rest.

Bosch Sensortec | BMI270 Datasheet 24 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.2 Block Diagram

4.3 Supply Voltage and Power Management

The device has two distinct power supply pins:  VDD is the main power supply.  VDDIO is a separate power supply pin used for supplying power for the interface including the auxiliary interface. There are no limitations with respect to the voltage level applied to the VDD and VDDIO pins, as long as it lies within the respective operating range. Furthe rmore, the device can be completely switched off (VDD= 0V) while keeping the VDDIO supply within operating range or vice versa. However, if the VDDIO supply is switched off, all interface pins (CSB, SDX, SCX) must be kept close to GNDIO potential. The device is reset when the supply voltage applied to at least one supply pin VDD or VDDIO falls below the specified minimum values. No constraints exist for the minimum slew -rate of the voltage applied to the VDD and VDDIO pins.

Bosch Sensortec | BMI270 Datasheet 25 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.4 Power-On-Reset (POR) and Device Initialization

During POR the voltages VDD/VDDIO are ramped to their respective target values. After reaching the target supply voltages, all registers are accessible after a delay of 450 us. After every POR or soft reset, the IMU remains in suspend mode. To get ready for operation the device must be initialized through the following procedure:  Interface selection (SPI only): Read an arbitrary register of the device, discard the read response  Disable advanced power save mode: PWR_CONF.adv_power_save =0b0  Wait for at least 450 us (or 12 LSB of SENSORTIME_0)  Write INIT_CTRL.init_ctrl=0x00 – to prepare config load  Upload configuration file o Burst write 8 kB initialization data to Register INIT_DATA (start with byte 0 of initialization data)4. This requires ca. 6.6 ms at 10 MHz SPI I/F frequency. The configuration file bmi270_config_file is available on GitHub (https://github.com/BoschSensortec/BMI270-Sensor-API/blob/master/bmi270.c) o Optionally: Burst read configuration file from Register INIT_DATA and check correctness by comparing it to the data written to the register in the previous step.  Write INIT_CTRL.init_ctrl=0x01 – to complete config load. Note: This operation must not be performed more than once after POR or soft reset.  Wait until Register INTERNAL_STATUS.message contains the value 0b0001. This will happen after at most 20 msec. After the initialization sequence is completed, the power mode of the device is automatically set to “Configuration mode” (refer to Section 4.5). Now it is possible to switch to other power modes and the device is ready for operation as required and described in the following sections. 4 If the maximum burst write length of the host is less than 8 kB the init ialization data can be written in smaller chunks. Between two write operations the Registers INIT_ADDR_0 and INIT_ADDR_1 need to be incremented by the length of the first chunk write operation in bytes/2.

Bosch Sensortec | BMI270 Datasheet 26 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.5 Power Modes

The main power modes of the device are:  Suspend mode: Lowest possible power consumption, while still maintaining its configuration  Configuration mode: All IMU features accessible at full interface speed  Low power mode: Motion sensing at lowest possible power consumption  Normal mode: Aliasing free motion sensing at maximum ODR  Performance mode: Motion sensing at maximum sensor performance The table below shows the required configurations for these power modes Table 6: Power Modes PWR_CTRL.acc_en PWR_CTRL.gyr_en ACC_CONF.acc_filter_perf GYR_CONF.gyr_filter_perf GYR_CONF.gyr_noise_perf PWR_CONF.adv_power_save Typ. current consumption * depends on ACC_CONF ** depends on GYR_CONF Suspend (lowest power mode) 0 0 X X X 1 3.5 µA Configuration mode 0 0 X X X 0 120 µA Low power mode Accel only 1 0 0 X X Down to 4 µA* Gyro only 0 1 X 0 0 Down to 400 µA** IMU 1 1 0 0 0 Down to 420 µA* ** Normal mode Accel only 1 0 1 X X X 210 µA Gyro only 0 1 X 1 0 600 µA IMU 1 1 1 1 0 685 µA Performance mode5 Accel only 1 0 1 X X X 210 µA Gyro only 0 1 X 1 1 900 µA IMU 1 1 1 1 1 970 µA The power state of the IMU is controlled through the registers PWR_CTRL and PWR_CONF. The Register PWR_CTRL enables and disables the accelerometer, the gyroscope, the auxiliary sensor, and the temperature sensor. The Register PWR_CONF controls which power state the sensors enter if they are enabled or disabled in the Register PWR_CTRL. The power state impacts the behavior of the sensor with respect to start -up time, available functions, etc. but not the sensor data quality. The sensor data quality (e.g. the noise performance and/or the filter characteristics) is controlled in the Register ACC_CONF and Register GYR_CONF. In all global power configurations both register contents and FIFO contents are retained. 5 Accelerometer does not differ in normal and performance mode.

Bosch Sensortec | BMI270 Datasheet 27 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Table “Power Modes” above shows how to configure the device for the most relevant power modes. But any ot her combination of the shown register settings is allowed. These registers are described as follows: PWR_CTRL: used to enable and disable sensors (accelerometer, gyroscope, auxiliary, and temperature). Per default, all sensors are disabled. PWR_CTRL.acc_en: enable or disable the accelerometer in all power modes. PWR_CTRL.gyr_en: enable or disable the gyroscope in all power modes. ACC_CONF.acc_filter_perf: enable or disable aliasing6 free acceleration sensing. GYR_CONF.gyr_filter_perf: enable or disable aliasing6 free yaw rate sensing. GYR_CONF.gyr_noise_perf: enable or disable low noise mode for precision yaw rate sensing. PWR_CONF.adv_power_save: enable or disable the advanced power save configuration. If the device is configured for accelerometer only operation and ACC_CONF.acc_filter_perf=0b0 or all sensors are disabled, there is a potential for additional (maximal) power saving. If the configuration is set by PWR_CONF.adv_power_save=0b1, the devices internally reduces the power consumption always to a minimum without compromising data quality defined by the performance parameters set above at the expense of these restrictions which apply:  Register writes need an inter-write-delay of at least 450 µs, see Section 6 for details.  The sensors log data into the FIFO in all power modes. The user needs to disable advanced power save mode (PWR_CONF.adv_power_save=0b0), respect the timing constraints in Sections 6.4 and 6.5 before reading the FIFO. If PWR_CONF.adv_power_save=0b0 the device is accessible without the restrictions of the advanced power save configuration after 450 µs. 6 An effect that causes different signals to become indistinguishable when sampled with low ODR’s.

Bosch Sensortec | BMI270 Datasheet 28 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.6 Sensor Data

4.6.1 Accelerometer Data

The width of acceleration data is 16 bits given in two´s complement representation in the registers DATA_8 to DATA_13. The 16 bits for each axis are split into an MSB upper part and an LSB lower part. 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).

4.6.2 Accelerometer Filter Settings

The accelerometer digital filter is configured through the Register ACC_CONF.

4.6.3 Accelerometer Filter Modes

The accelerometer filter modes influence the low pass filter characteristics, in particular the 3dB cutoff frequency, noise, and group delay. The accelerometer filter mode is configured through ACC_CONF.acc_bwp. This datasheet describes the device in normal filter mode configuration for ACC_CONF.acc_bwp=0x02.

4.6.4 Accelerometer Data Processing in Normal and Performance Mode

The data processing for this mode is configured using ACC_CONF.acc_filter_perf=0b1. In this power mode, the accelerometer data is sampled at equidistant points in the time, defined by the accelerometer output data rate parameter ACC_CONF.acc_odr. The output data rate can be configured in one of eight different valid ODR configurations going from 12.5 Hz up to 1600Hz. The characteristics of the implemented low pass filter are described in the following 2 tables: Table 7: Cutoff freq. of the accelerometer according to ODR, Normal & Performance Mode Accelerometer ODR [Hz] 12.5 25 50 100 200 400 800 1600 3dB Cutoff frequency [Hz] normal filter mode ACC_CONF.acc_bwp=0x02 5.5 11 22 44 89 178 343 740 Table 8: Accelerometer noise according to ODR, Normal & Performance Mode, ± 8g range ODR in Hz 12.5 25 50 100 200 400 800 1600 RMS-Noise (typ.) [mg] normal filter mode ACC_CONF.acc_bwp=0x02 Table 9: Accelerometer group delay according to ODR, Normal & Performance Mode ODR in Hz 12.5 25 50 100 200 400 800 1600 Group Delay (typ.) [ms] normal filter mode ACC_CONF.acc_bwp=0x02

Bosch Sensortec | BMI270 Datasheet 29 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.6.5 Accelerometer Data Processing in Low Power Mode

Low power mode can be enabled by PWR_CONF.adv_power_save=0b1 and ACC_CONF.acc_filter_perf=0b0. In this power mode, the accelerometer regularly changes between an idle phase where no measurement is performed and an active phase, where data is acquired. The period of the duty cycle for changing between active and idle mode will be determined by the output data rate ( ACC_CONF.acc_odr). In low power mode, the output data rate can be configured in one of 10 different valid ODR configurations going from 0.78Hz up to 400Hz. The samples acquired during the active phase will be averaged and the result will be the output data. The number of averaged samples can be determined by the parameter ACC_CONF.acc_bwp through the following formula: averaged samples = 2(Val(acc_bwp)) skipped samples = (1600/ODR)-averaged samples A higher number of averaged samples will result in a lower noise level of the signal. Since the active phase is increased, the power consumption will also rise.

4.6.6 Accelerometer Data Ready Interrupt

This interrupt fires whenever a new data sample set from accelerometer is available in Registers DATA_8 to DATA_13. This allows a low latency data readout. In non-latched mode, the interrupt are cleared automatically after 1/(6400Hz). If this automatic clearance is unwanted, please use latched mode (see Section 4.9). The flag INT_STATUS_1.acc_drdy_int is cleared when the register INT_STATUS_1 is read. The flag STATUS.drdy_acc is cleared when any of the Registers DATA_8 to DATA_13 is read. To enable the data ready interrupt please map it on the desired INT pin via INT_MAP_DATA.

4.6.7 Gyroscope Data

The width of gyroscope data is 16 bits given in two´s complement representation in the registers DATA_14 to DATA_19. The 16 bits for each axis are split into an MSB upper part and an LSB lower part. Reading the gyroscope data registers shall always start with the LSB part. In order to ensure the integrity of the gyroscope data, the content of an MSB register is locked by reading the corresponding LSB register (shadowing procedure).

4.6.8 Gyroscope Filter Settings

The gyroscope digital filter can be configured through the Register GYR_CONF.

4.6.9 Gyroscope Filter Modes

The gyroscope filter modes influence the low pass filter characteristics, in particular the 3dB cutoff frequency, noise, and group delay. The gyroscope filter mode is configured through GYR_CONF.gyr_bwp. This datasheet describes the device in normal filter mode configuration for GYR_CONF.gyr_bwp=0x02.

4.6.10 Gyroscope Data Post-Processing

For optimal gyroscope CAS performance the following data post-processing step is necessary: Ratex = DATA_15<<8+DATA_14 - GYR_CAS.factor_zx * (DATA_19<<8+DATA_18) / 29 Ratey =DATA_17 <<8+DATA_16 Ratez =DATA_19<<8+DATA_18

Bosch Sensortec | BMI270 Datasheet 30 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Note: GYR_CAS.factor_zx is a 7-bit two-complement encoded signed value, if you do not use Bosch Sensortec sensor API, please make sure that you implement sign extension.

4.6.11 Gyroscope Data Processing in Normal and Performance Mode

The data processing for these modes is configured using GYR_CONF.gyr_filter_perf=0b1. In these power modes, the gyroscope data is sampled at equidistant points in the time, defined by the gyroscope output data rate parameter GYR_CONF.gyr_odr. The output data rate can be configured in one of eight d ifferent valid ODR configurations going The characteristics of the implemented low pass filter are described in the following tables: Table 10: Cutoff frequency of the gyroscope according to ODR, Normal & Performance Mode Gyroscope ODR [Hz] 25 50 100 200 400 800 1.6 k 3.2 k 6.4 k 3dB Cutoff frequency [Hz] normal filter mode GYR_CONF.gyr_bwp=0x02 11 20 39 77 152 300 557 751 712 Table 11: Gyroscope noise according to ODR, Normal Mode, ± 2000 dps range ODR in Hz 25 50 100 200 400 800 1.6 k 3.2 k 6.4 k RMS-Noise (typ.) [mdps] normal filter mode GYR_CONF.gyr_bwp=0x02 31.0 43.9 62.0 87.7 124 176 248 431 500 Table 12: Gyroscope noise according to ODR, Performance Mode, ± 2000 dps range ODR in Hz 25 50 100 200 400 800 1.6 k 3.2 k 6.4 k RMS-Noise (typ.) [mdps] normal filter mode GYR_CONF.gyr_bwp=0x02 Table 13: Gyroscope group delay according to ODR, Normal and Performance Modes ODR in Hz 25 50 100 200 400 800 1.6 k 3.2 k 6.4 k Group Delay (typ.) [ms] normal filter mode GYR_CONF.gyr_bwp=0x02

Bosch Sensortec | BMI270 Datasheet 31 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.6.12 Gyroscope Data Processing in Low Power Mode

Low power mode can be enabled by PWR_CONF.adv_power_save=0b1 and GYR_CONF.gyr_filter_perf=0b0. In this power mode, the gyroscope regularly changes between an idle phas e where no measurement is performed and an active phase, where data is acquired. The period of the duty cycle for changing between active and idle mode will be determined by the output data rate ( GYR_CONF.gyr_odr). The output data rate can be configured in one of 3 different valid ODR configurations 25Hz, 50Hz, and 100Hz. Four samples are acquired during the active phase and will be averaged and the result will be the output data.

4.6.13 Gyroscope Data Ready Interrupt

This interrupt fires whenever a new data sample set from the gyroscope is available in Registers DATA_14 to DATA_19. This allows a low latency data readout. In non-latched mode, the interrupt are cleared automatically after 1/(6400Hz). If this automatic clearance is unwanted, please use latched mode (see Section 4.9). The flag INT_STATUS_1.gyr_drdy_int is cleared when the register INT_STATUS_1 is read. The flag STATUS.drdy_gyr is cleared when any of the Registers DATA_14 to DATA_19 is read. To enable the data ready interrupt please map it on the desired INT pin via INT_MAP_DATA.

4.6.14 Temperature Sensor

The temperature sensor has 16 bits defined as: Value Temperature 0x7FFF 87 – 1/29 °C … … 0x0000 23 °C … … 0x8000 Invalid The measured temperature is accessible via the Registers TEMPERATURE_0 and TEMPERATURE_1. After enabling the temperature sensor, the register contains the invalid value 0x8000 until the firs t temperature measurement is completed. sensor must be manually enabled or disabled using PWR_CTRL.temp_en. Disabling the temperature sensor reduces the overall current consumption of the device by approximately 1.8 µA in average. If the temperature sensor is enabled it updates the results aligned with bit 7 of the Register SENSORTIME_1 at an update rate of 0.78 Hz. If the gyroscope is enabled and PWR_CONF.adv_power_save=0b0 and PWR_CTRL.gyr_en=0b1, the temperature in Registers TEMPERATURE_0 and TEMPERATURE_1 is updated every 10 ms ( ±12%), if the gyroscope is in standby mode or fast-power up mode, the temperature is updated every 1.28 s aligned with bit 7 of the Register SENSORTIME_1.

Bosch Sensortec | BMI270 Datasheet 32 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.6.15 Sensor Time

The device supports the concept of sensortime. Its core element is a free running counter with a width of 24 bits. It increments with a resolution of 39.0625us. The user can access the current st ate of the counter by reading registers SENSORTIME_0 to SENSORTIME_2. All sensor events e.g. updates of data registers are synchronous to this sensor time register as defined in the table below. With every update of the data register or the FIFO, a bit m in the registers SENSORTIME_0 to SENSORTIME_2 toggles where m depends on the output data rate for the data register and the outp ut data rate and the FIFO downsampling rate for the FIFO. The table below shows which bit toggles for which update rate of data register and FIFO: Bit m in sensor_time 23 22 21 20 19 18 17 16 Bit m in sensor_time 15 14 13 12 11 10 9 8 Resolution [ms] 1280 640 320 160 80 40 20 10 Bit m in sensor_time 7 6 5 4 3 2 1 0 Update rate [Hz] 200 400 800 1600 3200 The sensortime is synchronized with the data capturing in the data register and the FIFO. The se nsortime supports multiple seconds of sample counting and a sub-millisecond resolution, see Register SENSORTIME_0 for details. Burst reads on the registers SENSORTIME_0 to SENSORTIME_2 always deliver consistent values, i.e. the value of the register does not change during the burst read.

Bosch Sensortec | BMI270 Datasheet 33 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.6.16 Configuration Changes

If device configuration settings in registers ACC_CONF, ACC_RANGE, GYR_CONF, GYR_RANGE, or AUX_CONF are changed while the sensors are enabled (accelerometer PWR_CTRL.acc_en = 0b1, gyroscope PWR_CTRL.gyr_en or auxiliary sensor PWR_CTRL.aux_en = 0b1), the configuration changes are not immediately applied. The configuration changes become effective if a sampling event for the currently active ODR coincides with a sampling event for the newly requested ODR on the sensortime sampling grid. In the case where the currently active ODR equals the newly requested ODR, the configuration changes become effective at the next sampling event. See also following figure: t 1/fODR Currently active ODR Configuration change including ODR change written to register 1/fODR, new Confguration change becomes effective requested ODR t Currently active ODR Configuration change including ODR change written to register 1/fODR, new Confguration change becomes effective requested ODR 1/fODR Current ODR > requested ODR Requested ODR > current ODR t Currently active ODR Configuration change written to register Confguration change becomes effective requested ODR 1/fODR Configuration change w/o ODR change

Bosch Sensortec | BMI270 Datasheet 34 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.7 FIFO

The device supports the following FIFO operating modes:  Streaming mode: overwrites oldest data on FIFO full condition  FIFO mode: discards newest data on FIFO full condition The FIFO size is 20487 byte and supports the following interrupts:  FIFO full interrupt  FIFO watermark interrupt FIFO is enabled for accelerometer data with FIFO_CONFIG_1.fifo_acc_en=0b1, for gyroscope data with FIFO_CONFIG_1.fifo_gyr_en=0b1, and auxiliary interface (e.g. magnetometer) data with FIFO_CONFIG_1.fifo_aux_en=0b1 (0b0=disabled). The FIFO may be used in all power modes of the device to recor d data. For readout conditions, see Subsection “FIFO in Low Power Mode”.

4.7.1 Frames

The FIFO captures data in frames, which consist in header mode of a header and a payload data, in headerless mode only payload is stored. In header mode (standard configuration) each regular frame consists of a one byte header describing properties of the frame (e.g. which sensors are included in this frame) and the payload data itself. Beside the regular frames, which contain the sensor data, there are control frames, which contain metadata (e.g. sensortime). An overview of the possible frame types is show below

7 See Application Note BST-BMI270-AN001 for 6KB FIFO

Bosch Sensortec | BMI270 Datasheet 35 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Header mode The header has a fixed length of 8 bit and the following format: Bit 7 6 5 4 3 2 1 0 Content fh_mode<1:0> fh_parm<3:0> fh_ext<1:0> These fh_mode and fh_parm and fh_ext fields are defined below fh_mode<1:0> Definition fh_parm <3:0> fh_ext<1:0> 0b10 Regular frame Enabled sensors Tag of INT2 and INT1 0b01 Control frame Control opcode 0b00 and 0b11 Reserved N/A fh_parm=0b0000 is invalid for regular mode, a header of 0x80 indicates an uninitialized frame, which is reported if the fifo read operations reads more data, than contained in the fifo. An uninitialized frame contains one byte of payload 0x00. In a regular frame, fh_parm parameter defines which sensors are included in the data part of the frame. The format is Name fh_parm<3:0> Bit 3 2 1 0 Content Reserved FIFO_aux_data FIFO_gyr_data FIFO_acc_data When FIFO_<sensor x>_data is 0b1 (0b0) data for sensor x is included (not included) in the data part of the frame. The fh_ext<1:0> field are used for external tagging. The order of the data in the FIFO data frame (see following table) differs from the order defined for the Registers DATA_0 to DATA_19. A valid regular frame, contains data of at least one sensor (accelerometer, gyroscope, or auxiliary sensor). Only valid frames will be written into the FIFO. E.g. fh_parm=0b0111 in the header of a frame will result in the data layout shown below. DATA[X] Acronym X=0 AUX_0 copy of register Val(AUX_RD_ADDR) in auxiliary sensor register map X=1 AUX_1 copy of register Val(AUX_RD_ADDR )+1 in auxiliary sensor register map X=2 AUX_2 copy of register Val(AUX_RD_ADDR )+2 in auxiliary sensor register map X=3 AUX_3 copy of register Val(AUX_RD_ADDR )+3 in auxiliary sensor register map X=4 AUX_4 copy of register Val(AUX_RD_ADDR )+4 in auxiliary sensor register map X=5 AUX_5 copy of register Val(AUX_RD_ADDR )+5 in auxiliary sensor register map X=6 AUX_6 copy of register Val(AUX_RD_ADDR )+6 in auxiliary sensor register map X=7 AUX_7 copy of register Val(AUX_RD_ADDR)+7 in auxiliary sensor register map X=8 GYR_X<7:0> (LSB) X=9 GYR_X<15:8> (MSB) X=10 GYR_Y<7:0> (LSB) X=11 GYR_Y<15:8> (MSB) X=12 GYR_Z<7:0> (LSB) X=13 GYR_Z<15:8> (MSB) X=14 ACC_X<7:0> (LSB) X=15 ACC_X<15:8> (MSB) X=16 ACC_Y<7:0> (LSB) X=17 ACC_Y<15:8> (MSB) X=18 ACC_Z<7:0> (LSB) X=19 ACC_Z<15:8> (MSB)

Bosch Sensortec | BMI270 Datasheet 36 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 The length of the auxiliary sensor data block in a FIFO frame depends on the configured burst read length of the auxiliary interface in Register AUX_IF_CONF.aux_rd_burst: If the read burst length for the auxiliary sensor is configured to less than 8 byte, the number of data bytes in the regular FIFO frame is reduced accordingly. I.e. in the above example, the gyro data would start before Byte 8. Control frames Control frames are only supported in header mode. There are a number of control frames defined through the fh_parm field. These are shown in below. A skip frame indicates the number of skipped frames after a FIFO overrun occurred. A sensortime frame contai ns the sensortime when the last sampled frame stored in the FIFO is read. A FIFO input config frames indicates a change in sensor configuration which affects the sensor data. The FIFO fill level is contained in registers FIFO_LENGTH_1.fifo_byte_counter_13_8 and FIFO_LENGTH_0.fifo_byte_counter_7_0. The fifo fill level includes the space needed for the regular and the control frames, with the exception of the sensortime frame. fh_mode<3:0> Definition Number of 0x0 Skip Frame 1 byte payload 0x1 Sensortime Frame 3 bytes payload 0x2 Fifo_Input_Config Frame 4 bytes payload 0x3 – 0x7 Reserved Skip Frame (fh_parm=0x0) In the case of FIFO overflows, a skip_frame is prepended to the FIFO content, when read out next time. The data for the frame consists of one byte and contains the number of skipped frames. When more than 0xFF frames have been skipped, 0xFF is returned. A skip frame is expected always as first frame in a FIFO read burst. A skip frame does not consume memory in the FIFO. Sensortime Frame (fh_parm=0x1) The data for the sensortime frame is a copy of the Register SENSORTIME_0 to SENSORTIME_2 when the last byte of the last sample frame was read. One sensortime frame is always expected as last frame in the FIFO. A sensortime frame is only sent if the FIFO becomes empty during the burst read. A sensortime frame does not consume memory in the FIFO. Sensortime frames are enabled (disabled) by setting FIFO_CONFIG_0.fifo_time_en to 0b1 (0b0). Fifo_Input_Config Frame (fh_parm=0x2) Whenever the filter configuration of the FIFO input data sources changes, a FIFO input config frame is inserted into the FIFO, before the configuration change becomes active. E.g. when the bandwidth for the accelerometer filter is changed in Register ACC_CONF, a FIFO input config frame is inserted before the first frame with accelerometer data with the new bandwidth configuration. The FIFO input config frame contains four byte of data with the format Bit 7 6 5 4 3 2 1 0 Byte 0 reserved reserved aux_ if_ch aux_ conf_ch gyr_ range_ch gyr_ conf_ch acc_ range_ch acc_ conf_ch Byte 1 Sensortime _0 for next frame (may be drop frame) Byte 2 Sensortime_1 for next frame (may be drop frame) Byte 3 Sensortime _2 for next frame (may be drop frame) aux_if_ch A write to Register AUX_IF_CONF, AUX_RD_ADDR, or AUX_WR_ADDR becomes active. aux_conf_ch A write to Register AUX_CONF becomes active.

Bosch Sensortec | BMI270 Datasheet 37 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 gyr_range_ch A write to Register GYR_RANGE becomes active. gyr_conf_ch A write to Register GYR_CONF or gyr_FIFO_filt_data or gyr_FIFO_downsampling in Register FIFO_DOWNS becomes active. acc_range_ch A write to Register ACC_RANGE becomes active. acc_conf_ch A write to Register ACC_CONF or acc_FIFO_filt_data or acc_FIFO_downsampling in Register FIFO_DOWNS becomes active. If Byte 0 is 0x00, this indicates that this Fifo_Input_Config Frame is written, because the fifo or sensor was enabled. Headerless mode When the data rates of all enabled sensor elements are ident ical, the FIFO header may be disabled in FIFO_CONFIG_1.fifo_header_en. The headerless mode supports only regular frames. To be able to distinguish frames from each other, all frames must have the same size . For this reason, any change in configuration that have an impact to frame size or order of data within a frame will cause an instant flush of FIFO, restarting capturing of data with the new settings. If the auxiliary sensor interface is enabled, the num ber of auxiliary sensor bytes in a FIFO frame is always AUX_IF_CONF.aux_rd_burst bytes (see section 4.10). If the burst length is less than 4, the device will pad the values read form the auxiliary sensor to 4 bytes . E.g. if AUX_IF_CONF.aux_rd_burst=0b01 (2 Bytes), a frame with auxiliary sensor, accelerometer, and gyroscope data will look like DATA[X] Acronym X=0 AUX_0 copy of register Val(AUX_RD_ADDR.read_addr) in auxiliary sensor register map X=1 AUX_1 copy of register Val(AUX_RD_ADDR.read_addr+1) in auxiliary sensor register map X=2 Padding byte Undefined value X=3 Padding byte Undefined value X=4 GYR_X<7:0> (LSB) X=5 GYR_X<15:8> (MSB) X=6 GYR_Y<7:0> (LSB) X=7 GYR_Y<15:8> (MSB) X=8 GYR_Z<7:0> (LSB) X=9 GYR_Z<15:8> (MSB) X=10 ACC_X<7:0> (LSB) X=11 ACC_X<15:8> (MSB) X=12 ACC_Y<7:0> (LSB) X=13 ACC_Y<15:8> (MSB) X=14 ACC_Z<7:0> (LSB) X=15 ACC_Z<15:8> (MSB)

Bosch Sensortec | BMI270 Datasheet 38 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.7.2 Conditions and Details

If a frame is fully read through the Register FIFO_DATA, it gets deleted from the FIFO of the device. If a frame is only partially read it will be repeated completely with the next access both in headerless and in header mode. In headermode, this includes the header. In the case of a FIFO overflow between the first partial read and the second read attempt, the frame is kept only if FIFO_CONFIG_0.fifo_stop_on_full =0b1. FIFO overreads When more data are read from the FIFO than it contains valid data, 0x8000 is returned in headerless mode. In header mode 0x80 indicates an invalid frame. Frame rates The frame sampling rate of the FIFO is defined by the maximum output data rate of the sensors enabled for FIFO sampling. The FIFO sampling configuration is set in register FIFO_CONFIG_0 to FIFO_CONFIG_1. It is possible to select filtered or pre -filtered data as an input to the FIFO. If pre -filtered data is selected in register FIFO_DOWNS.acc_fifo_filt_data for the accelerometer, the sample rate is 1600 Hz. If pre -filtered data is selected in register FIFO_DOWNS.gyr_fifo_filt_data for the gyroscope, the sample rate is 6400 Hz. The range of the pre -filtered gyroscope data is defined by GYR_RANGE.ois_range and independent of the range configured for the data register and filtered data in the fifo defined by GYR_RANGE.gyr_range. The input data rate to the FIFO can be reduced by selecting a down-sampling factor 2k in registers FIFO_DOWNS.acc_fifo_downs or FIFO_DOWNS.gyr_fifo_downs where k={0..7}. FIFO overflow In the case of an overflow the FIFO can either stop recording data or overwrite the oldest data. The behavior is controlled by Register FIFO_CONFIG_0.fifo_stop_on_full. If FIFO_CONFIG_0.fifo_stop_on_full =0b0, the FIFO logic may delete the oldest frames. If header mode is enabled and the free FIFO space falls below the maximum size frame, the skip frame is the prepended at the next FIFO readout. If FIFO_CONFIG_0.fifo_stop_on_full =0b1, the newest frame may be discarded, if the free FIFO space falls below the maximum size frame. If header mode is enabled, a skip frame is prepended at the next FIFO readout (which is not the position where the frame(s) have been discarded). During a FIFO read operation of the host, no data at the FIFO tail may be dropped. If the host reads the FIFO with a slower rate than it is filled, it may happen that the sensor needs to drop new data, even when FIFO_CONFIG_0.fifo_stop_on_full =0b0. These events are recorded in the Register ERR_REG.fifo_err.

Bosch Sensortec | BMI270 Datasheet 39 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.7.3 FIFO data synchronization

All sensor data ar e sampled with respect to a common ODR time grid. Even if a different ODR is selected for the acceleration and the auxiliary sensor the data remains synchronized: If a frame contains a sample from a sensor element with ODR x, then it must contain also samples of all sensor elements with an ODR y>=x. This applies for steady state operation. In transition phases, it is more important not to lose data, therefore exceptions are possible if the sensor elements with ODR y>=x do not have data, e.g. due to a senso r configuration change. FIFO Data Synchronization Scheme in the following figure illustrates the steady state and transient operating conditions. ACC AUX t ACC AUX t 1/ODR_ACC 1/ODR_AUX ACC AUX t ACC enabled ACC start-up time Frame inconsistency accepted during transition phases AUX start-up timeAUX enabled Steady state operation

Bosch Sensortec | BMI270 Datasheet 40 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.7.4 FIFO synchronization with external events

External events at the INT<x> pin may be synchronized into the FIFO data. For this operation mode the FIFO_CONFIG_1.fifo_tag_int<x>1_en and INT<x>_IO_CTRL.input_en need to be enabled. The fh_ext field in FIFO header of a regular frame will then be set according to an event at the INT<x> pin. If FIFO_CONFIG_1.fifo_tag_int<x>_en is configured to int_level, the value of the INT<x> pin at the time when the FIFO regular frame is written is copied into the fh_ext field. If FIFO_CONFIG_1.fifo_tag_int<x>_en is configured to int_edge, the corresponding bit in the fh_ext field of a regular frame will be set, if a positive edge of a pulse of minimum length 10ns on the INT<x> pin occured in the sampling interval before this frame is written into the FIFO. E.g. if the ODR is set to 100 Hz and the fh_ext field in FIFO header is set, then in the 10 ms before the regular frame was written into FIFO an positive edge occurred at the INT<x> pins.

4.7.5 FIFO Interrupts

The FIFO supports two interrupts, a FIFO full interrupt and a watermark interrupt:  The FIFO full interrupt is issued when the FIFO fill level is above the full threshold. The full threshold is reached just before the last two frames are stored in the FIFO.  The FIFO watermark is issued when the FIFO fill level is equal or above a watermark defined in Register FIFO_WTM_1.fifo_water_mark_12_8. In order to enable/use the FIFO full or watermark interrupts, map them on the desired interrupt pin via INT_MAP_DATA. Latched FIFO interrupts will only be cleared, if the status register gets read and the fill level is below the corresponding FIFO interrupt (full or watermark).

4.7.6 FIFO Reset

The user can trigger a FIFO reset by writing the command fifo_flush (0xB0) in CMD. Automatic resets are only performed in the following cases:  A sensor is enabled or disabled in headerless mode  A transition between headerless and headermode or vice versa has occurred.  Size of auxiliary sensor data in a frame changed in header or headerless mode

4.7.7 FIFO in Low Power Mode

In the low power mode the device supports FIFO usage. The data storage into the FIFO is identical to the nor mal and performance mode, for the readout the description below applies:  If PWR_CONF.fifo_self_wakeup=0b0 the advanced power save configuration needs to be disabled (PWR_CONF.adv_power_save=0b0) before reading out FIFO data.  If PWR_CONF.fifo_self_wakeup=0b1 and the FIFO watermark or FIFO full interrupt is triggered, the restriction for PWR_CONF.adv_power_save=0b1 (see Section 4.5) do not apply as long as a single burst read on Register FIFO_DATA completes. This may be used to read the complete FIFO with one single burst read without leaving low power mode. Without a FIFO watermark interrupt or full interrupt, the advanced power save configuration needs to be disabled (PWR_CONF.adv_power_save=0b0) before reading out FIFO data.

Bosch Sensortec | BMI270 Datasheet 41 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8 Advanced Features

4.8.1 Global Configuration

The configuration of the interrupt feature engine is described in the Registers FEATURES. These registers are partitioned into several pages, the page valid for the next read o r write to the Registers FEATURES is selected by the Register FEAT_PAGE.page. Writes to a FEATURES register must be 16-bit word oriented, i.e. writes should start at an even address (2m) and the last byte written should be at an odd address (2n+1), where 0x30<=2m<=2n<0x3F. If the write start address is less than 0x30 the write may start at any address (see example 4 below), if the end address is greater than 0x3F, it may stop at any address (see example 5 below).  For register writes which stop at an even SPI address (2n), the data at the odd SPI address (2n+1) are undefined (see Example 2, 3 below)  For writes which start at an odd SPI address (2m+1), the data at the even address (2m) are undefined. (see Example 3 below) 0x29 Valid Data 0x3E Valid Data 0x2A Valid Data 0x3F Valid Data 0x40 Valid Data 0x41 Valid Data 0x2E Valid Data 0x42 Valid Data 0x2F Valid Data 0x30 Valid Data 0x31 Valid Data Make sure the sensor is initialized properly before the feature configuration is performed (see description in section 4.4.) Some features generate interrupts. INT1_MAP_FEAT and INT2_MAP_FEAT configure these features. INT_STATUS_0 reports the interrupt source. In order to minimize the power consumption or to enable always-on motion sensing, all advanced features (algorithms) rely on accelerometer data samples. Minimum Bandwidth Settings If the filter performance of the accelerometer is configured to high performance (ACC_CONF.acc_filter_perf is 0b1), the features operate at highest performance independent of the ODR and the bandwidth set by the host. If the filter performance of the accelerometer is configured to low power (ACC_CONF.acc_filter_perf is 0b0), the feature performance is depending on the ODR and the averaging factor ( ACC_CONF.acc_bwp ) set by the host. The ODR must be set to minimum 50 Hz. 0x30 Valid Data 0x30 Valid Data 0x30 Undefined 0x31 Valid Data 0x31 Valid Data 0x31 Valid Data 0x32 Valid Data 0x32 Valid Data 0x32 Valid Data 0x33 Valid Data 0x33 Undefined 0x33 Undefined Ex. 1) Write 4 bytes starting at address 0x30 Ex. 2) Write 3 bytes starting at address 0x30 Ex. 3) Write 2 bytes starting at address 0x31 Ex. 4) Write 9 bytes starting at address 0x29 Ex. 5) Write 5 bytes starting at address 0x3E

Bosch Sensortec | BMI270 Datasheet 42 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 If the device configuration does not meet the mini mum requirements, the corresponding flag in the Register INTERNAL_STATUS is set, if one of the advanced features is enabled. In this case the features are still evaluated, the same number of samples are evaluated, but they are sampled at the lower rate. Error Interrupts The device supports an error interrupt, which triggers if the device cannot be recovered without a soft reset or a POR. This error interrupt is enabled through INT_MAP_DATA. The interrupt status is available in INT_STATUS_1.err_int. After restarting a device reinitialization must be done. Axis remapping for interrupt features If the coordinate system of the end device differs from the sensor coordinate system described in Section 8.2 the sensor axis must be remapped to use the orientation dependent features (e.g. orientation interrupt, flat interrupt) properly. Axis remapping re gister allows the host to freely map individual axis to the coordinate system of the used platform. Individual axis can be mapped to any other defined axis. The sign value of the axis can be also configured. For example x axis can be mapped to –x axis, +y axis, - y axis, +z axis or –z axis. Similarly, other axes also have their own combinations. Invalid remappings are signaled through the register INTERNAL_STATUS.axes_remap_error if an advanced feature is enabled. Note: The axis remapping applies only to the data fetched into the features. The DATA_0 to DATA_13 registers and FIFO are not affected and should be remapped accordingly on the driver level. Configuration settings: 1. GEN_SET_1.map_x_axis – describes which axis shall be mapped to x axis. 2. GEN_SET_1.map_x_axis_sign – describes whether the mapped axis shall be inverted or not to be inverted. 3. GEN_SET_1.map_y_axis – describes which axis shall be mapped to y axis. 4. GEN_SET_1.map_y_axis_sign – describes whether the mapped axis shall be inverted or not to be inverted. 5. GEN_SET_1.map_z_axis – describes which axis shall be mapped to z axis. 6. GEN_SET_1.map_z_axis_sign – describes whether the mapped axis shall be inverted or not to be inverted.

Bosch Sensortec | BMI270 Datasheet 43 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8.2 Anymotion Detection

The anymotion detection uses the slope between two acceleration signals to detect changes in motion. The interrupt is configured by setting enable flag ANYMO_2.enable along with at least on e of the following flags: ANYMO_1.select_x, ANYMO_1.select_y, and ANYMO_1.select_z respectively for each axis. It generates an interrupt when the absolute value of the slope (the difference between two accelerations) exceeds the preset ANYMO_2.threshold for a certain number of consecutive data points ANYMO_1.duration. The slope (difference) is being computed between the current acceleration sample and the reference sample. The reference sample is updated while the anymotion is detected; basically this means the reference is the last state when sensor detected anymotion. The interrupt generated will be reset as soon as the slope value falls below the threshold. Configuration settings 1. ANYMO_2.enable – enable the feature. 2. ANYMO_1.duration – the number of consecutive data points for which the threshold condition must be respected, for interrupt assertion. 3. ANYMO_2.threshold – the slope threshold. 4. ANYMO_1.select_x – select the feature for x axis 5. ANYMO_1.select_y – select the feature for y axis 6. ANYMO_1.select_z – select the feature for z axis Output INT_STATUS_0.any_motion_out – Set to 1 when shake interrupt is generated by the device

Bosch Sensortec | BMI270 Datasheet 44 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Latched Non-latched Latched Non-latched Acceleration Reference Slope as ABS(Acc. – Ref.) Duration (in samples) INT Samples Samples Samples Samples Samples Scale: In X axis, 1 sample has period of 20ms Threshold Set duration Figure 1: Any-motion detection

Bosch Sensortec | BMI270 Datasheet 45 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8.3 Nomotion Detection

The interrupt is configured by setting enable flag NOMO_2.enable along with at least one of the following flags: NOMO_1.select_x, NOMO_1.select_y, and NOMO_1.select_z respectively for each axis. Nomotion Detection interrupt is generated when the slope on all selected axis remains smaller than a programmable NOMO_2.threshold for a pro grammable time. The signals and timings relevant to the nomotion interrupt functionality are depicted in the figure below. Register NOMO_1.duration defines the number of consecutive slope data points of the selected axis which must stay under the threshold for an interrupt to be asserted. Configuration settings 1. NOMO_2.enable – enable the feature. 2. NOMO_1.duration – the number of consecutive data points for which the threshold condition must be respected, for interrupt assertion. 3. NOMO_2.threshold – the slope threshold. 4. NOMO_1.select_x – select the feature for x axis 5. NOMO_1.select_y – select the feature for y axis 6. NOMO_1.select_z – select the feature for z axis Output INT_STATUS_0.no_motion_out – Set to 1 when shake interrupt is generated by the device

Bosch Sensortec | BMI270 Datasheet 46 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Acceleration Slope as ABS(Acc.(t+Δt) – Acc.(t)) Samples Duration (in samples) INT Threshold Samples Samples Samples Latched Latched Non-latched Scale: In X axis, 1 sample has period of 5ms Set duration Figure 2: No-motion detection

Bosch Sensortec | BMI270 Datasheet 47 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8.4 Significant Motion Detection

The significant motion interrupt implements the interrupt required for motion detection in Android 4.3 and greater: https://source.android.com/devices/sensors/sensor-types.html#significant_motion. A significant motion is a motion due to a change in the user location. Examples of such significant motions are walking or biking, sitting in a moving car, coach or train, etc. Examples of situations that does typically not trigger significant motion include phone in pocket and person is stationary or phone is at rest on a table which is in normal office use. Configuration settings 1. SIGMO_2.enable – indicates if this feature is enabled or not. 2. SIGMO_1.block_size – Defines the duration after which the significant motion interrupt is triggered. It is expressed in 50 Hz samples (20 ms). Default value is 0xFA=5sec.

4.8.5 Activity and Activity Change Recognition

The device can detect simple user activities (unknown, still, walking, running) and can send an interrupt if those are changed, e.g. from walking to running or vice versus. The interrupt is shared with step detector/step counter watermark interrupts and can be configured independently of all other interrupts to any of the interrupt lines. 1. The device reports changes for following activity changes by an interrupt 1) Still - 0 2) Walking - 1 3) Running -2 4) Unknown – 3 2. Activity interrupt will be triggered only when there is change in status 3. ACT_OUT.act_out reports the activity status During power on, activity will be unknown (0x03) and the device receives an activity change interrupt once activity is enabled, and a new activity detected. When activity is disabled, status will be changed to unknown. Configuration settings 1. SC_26.en_activity – indicates if the activity feature is enabled or not

Bosch Sensortec | BMI270 Datasheet 48 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8.6 Wrist Wear Wakeup

Wrist wear wakeup feature is designed to detect any natural way of user moving the hand to see the watch dial when wearing a classical wrist watch. The feature is intended to be used as wakeup gesture (i.e. for triggering screen -on or screen-off) in wrist wearable devices. This feature has dependency on the device orientation in the user system. Implementation of the feature to detect gesture assumes that the sensor co-ordinate frame is aligned with the device/system co-ordinate frame. The assumed default device/system co-ordinate frame is depicted below. Please refer to section 4.8.1 for details about axis remapping Figure 3: Device co-ordinate system assumed for gesture detection The feature can distinguish if the device is in one of the following two positions:  Focus position: In this position, the arm in-front of the body and the user should be able to comfortably look at the watch dial.  Non-focus position: In this position, the user is not able to look at the watch dial. WR_WAKEUP_3.min_angle_nonfocus and WR_WAKEUP_2.min_angle_focus can be used to adjust the angle change needed to detect a wrist wear wakeup gesture. WR_WAKEUP_4.max_tilt_lr, WR_WAKEUP_5.max_tilt_ll, WR_WAKEUP_6.max_tilt_pd and WR_WAKEUP_7.max_tilt_pu can be used to define the maximum tilt angle within which device will still remain in focus position. BMI2

Bosch Sensortec | BMI270 Datasheet 49 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Table 14: Positive use-case scenarios for the wrist wear wakeup gestures Environment Scenario Device initial position User movement Outdoor / Indoor / train / bus Walking Arm swinging / hand in pocket Lifts and brings the arm in-front of the body to be able to comfortably look at the watch dial Outdoor / Indoor Walking / Running / Jogging Arm swinging Lift and bring the arm in-front of the body to be able to comfortably look at the watch dial Outdoor / Indoor / train / bus Sitting / Standing Arm is down on side of the body / hand in pocket Lifts and brings the arm in-front of the body to be able to comfortably look at the watch dial Arm is in-front of the body Rolls the wrist towards the user to look at the watch dial Indoor / train Working with computer Arm on table or arm rest Rolls the wrist towards the user to look at the watch dial Configuration Settings  WR_WAKEUP_1.enable - Enables the feature.  WR_WAKEUP_2.min_angle_focus – Cosine of minimum expected attitude change of the device within 1 second time window when moving within focus position.  WR_WAKEUP_3.min_angle_nonfocus – Cosine of minimum expected attitude change of the device within 1 second time window when moving from non-focus to focus position.  WR_WAKEUP_4.max_tilt_lr – Sine of the maximum allowed downward tilt angle in landscape right direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).  WR_WAKEUP_5.max_tilt_ll – Sine of the maximum allowed downward tilt angle in landscape left direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).  WR_WAKEUP_6.max_tilt_pd – Sine of the maximum allowed backward tilt angle in portrait down direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).  WR_WAKEUP_7.max_tilt_pu – Sine of the maximum allowed forward tilt angle in portrait up direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device).

Bosch Sensortec | BMI270 Datasheet 50 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8.7 Wrist Wear Navigation Gesture Detector

BMI270 is designed for Wear OS by Google™ and features wrist gestures (flick in/out, push arm down/pivot up, wrist jiggle/shake) that help navigate the smartwatch (https://support.google.com/wearos/answer/6312406?hl=en) Flick in/out Flick-in movement Flick-out movement Figure 4: Flick-in/out movement For flick-in detection, the user must slowly turn the wrist away from the body (i.e. roll-out shown with a light-grey arrow) and then quickly bring it back (i.e. roll-in shown with a darker-black arrow) into its original position. For flick-out detection, the user must quickly turn the wrist away from the body (i.e. roll -out shown with a darker-black arrow in above picture) and then slowly bring it back (i.e. roll -in shown with a light -grey arrow in above picture) to its original position. The speed of the roll -out and roll -in movements determine if the user performed a flick -in or a fl ick-out movement. WR_GEST_3.min_flick_samples can be used to control the time difference between the roll -in and roll-out movement. WR_GEST_2.min_flick_peak can be used to adjust the amount to tilt needed on the device to detect a flick gesture.

Bosch Sensortec | BMI270 Datasheet 52 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Configuration settings  WR_GEST_1.enable - Enables the feature.  WR_GEST_1.wearable_arm – Configures the device in left (0) or right (1) arm. By default, the wearable device is assumed to be in left arm i.e. default value is 0."  WR_GEST_2.min_flick_peak – Sine of the minimum tilt angle in portrait down direction of the device when wrist is rolled away (roll-out) from user.  WR_GEST_3.min_flick_samples – Value of minimum time difference between wrist’s roll-out and roll-in movement during flick gesture.  WR_GEST_4.max_duration – Maximum time within which gesture movement has to be completed. Output details  WR_GEST_OUT.wr_gest_out – 3-bits indicate type of gestures detected: Gestures Value No gesture 0 Push arm down 1 Pivot up 2 Wrist shake/jiggle 3 Flick in 4 Flick out 5

Bosch Sensortec | BMI270 Datasheet 53 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.8.8 Step counter / detector (Wrist-worn)

The wrist worn step counter/detector in BMI270 is optimized for wearable applications including smartwatches/bands/fitness trackers, among others. The step counter algorithm is optimized for high accuracy in wrist use-case applications, while Step Detector is optimized for low latency. Table 15: Step counter Configuration Configuration Parameters Wrist SC_1.param_1 301 SC_2.param_2 31700 SC_3.param_3 315 SC_4.param_4 31451 SC_5.param_5 (STEP_BUFFER_SIZE) 4 SC_6.param_6 31551 SC_7.param_7 27853 SC_8.param_8 1219 SC_9.param_9 2437 SC_10.param_10 1219 SC_11.param_11 -6420 SC_12.param_12 17932 SC_13.param_13 1 SC_14.param_14 39 SC_15.param_15 25 SC_16.param_16 150 SC_17.param_17 160 SC_18.param_18 1 SC_19.param_19 12 SC_20.param_20 15600 SC_21.param_21 256 SC_22.param_22 1 SC_23.param_23 3 SC_24.param_24 1 SC_25.param_25 14 1. SC_26.watermark_level – watermark level; the step counter will trigger output every time specific number of steps are counted 2. SC_26.reset_counter – flag to reset the counted steps. Step count value can be reset only when any one of features mentioned in this register is enabled. 3. SC_26.en_counter – indicates if the Step Counter feature is enabled or not. 4. SC_26.en_detector – indicates if the Step Detector feature is enabled or not. 5. SC_26.en_activity – indicates if the activity feature is enabled or not 6. SC_1.param_1 to SC_25.param_25 – there are 25 parameters, which can customize the sensitivity of the Step Counter and Detector.

Bosch Sensortec | BMI270 Datasheet 54 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.9 General Interrupt Pin Configuration

4.9.1 Electrical Interrupt Pin Behavior

Both interrupt pins INT1 and INT2 can be configured to show the desired electrical behavior. Interrupt pins can b e enabled in INT1_IO_CTRL.output_en respectively INT2_IO_CTRL.output_en. The characteristic of the output driver of the interrupt pins may be configured with bits INT1_IO_CTRL.od and INT2_IO_CTRL.od. By setting these bits to 0b1, the output driver shows open-drive characteristic, by setting the configuration bits to 0b0, the output driver shows push- pull characteristic. The electrical behavior of the Interrupt pins, whenever an interrupt is triggered, can be configured as either “active-high” or “active-low” via INT1_IO_CTRL.lvl respectively INT2_IO_CTRL.lvl. Both interrupt pins can be configured as input pins via INT1_IO_CTRL.input_en respectively INT2_IO_CTRL.input_en. This is necessary when FIFO tag feature is used (see Section 4.7.4 “FIFO synchronization with external interrupts”). If both are enabled, the input (e.g. marking FIFO) is driven by the interrupt output. The device supports edge and level triggered interrupt inputs, this can be configured t hrough FIFO_CONFIG1.fifo_tag_int1_en and FIFO_CONFIG1.fifo_tag_int2_en. The device supports non-latched and latched interrupts modes for data ready, FIFO watermark, FIFO full, error, and the advanced feature interrupts. The mode is selected by INT_LATCH.int_latch. Non-latched interrupts are designed for systems using edge triggered interrupts, latched interrupts are designed for systems using level-triggered interrupts. In latched mode an asserted interrupt status in INT_STATUS_0 (advanced feature interrupts) or INT_STATUS_1 (data ready, FIFO and error interrupts) and the selected pin are reset if the corresponding status register is read. If the interrupt activation condition still holds when the interrupt is reset, the interrupt status and pin are asserted again. If more than one interrupt pin is used in latched mode, all interrupts in INT_STATUS_0 should be mapped to one interrupt pin and all interrupts in INT_STATUS_1 should be mapped to the other interrupt pin. If just one interrupt p in is used all interrupts may be mapped to this interrupt pin. In the non-latched mode the selected pin are reset as soon as the activation condition is not valid anymore. The interrupt status bits are active until read by the host.

4.9.2 Interrupt Pin Mapping

The data ready, FIFO watermark, FIFO full, error, and the advanced feature interrupts are mapped to the external INT1 or INT2 pins by setting the corresponding bits in the Registers INT_MAP_DATA, INT1_MAP_FEAT and INT2_MAP_FEAT. To unmap these interrupts, the corresponding bits must be reset. Once an interrupt triggered the output pin, the host can derive the source of the interrupt of the corresponding status bit in the Register: INT_STATUS_0 and INT_STATUS_1.

Bosch Sensortec | BMI270 Datasheet 55 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.10 Auxiliary Sensor Interface

The auxiliary interface allows to attach one auxiliary sensor (AUX, e.g. magnetometer) on the secondary interface of the device as shown in the figure below. Figure 7: 9-DOF Solution w/ magnetometer (AUX) connected to the 2nd I/F The auxiliary interface is fully compatible with sensors supporting I2C fast -mode-plus (fm+) and which do not require clock stretching. For operating the device with sensors supporting only I2C fast-mode (fm), please contact your regional Bosch Sensortec sales representative.

4.10.1 Structure and Concept

The device controls the data acquisition of the auxiliary sensor and presents the data to the application processor through the primary I2C or SPI interface. No other I2C master or slave devices must be attached to the auxiliary sensor interface. The device autonomously reads the sensor data from a compatible auxiliary sensor without intervention of the application processor and stores the data in its data registers and FIFO. The initial setup of the auxiliary sensor after power -on is done through indirect addressing, see subsection “Setup Mode” below for details. The main benefits of the auxiliary sensor interface are  Synchronization of sensor data of auxiliary sensor and accelerometer. This results in an improved sensor data fusion quality.  Usage of the device FIFO for auxiliary sensor data (BMM150 does not have a FIFO). This is important for monitoring applications. BMI270

Bosch Sensortec | BMI270 Datasheet 56 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.10.2 Interface Control

The auxiliary sensor functionality is supported only if an AUX sensor is connected according to Section 7.3 and the auxiliary interface is configured for the auxiliary sensor operation by PWR_CTRL.aux_en=0b1. If the auxiliary interface is not used for auxiliary sensor operation, then the auxiliary sensor interface must remain disabled by setting PWR_CTRL.aux_en=0b0 (default). To change the power mode of the auxiliary sensor, both the power mode of the auxiliary interface and the auxiliary sensor part needs to be changed, e.g. to set the auxiliary sensor to suspend mode:  The auxiliary sensor part itself must be put into suspend mode by writing the respective configuration bits of the auxiliary sensor part. The power mode of the auxiliary sensor part is controlled by setting the device auxiliary sensor interface into manual mode by AUX_IF_CONF.aux_manual_en=0b1 and then communicating with the auxiliary sensor part through the device registers AUX_RD_ADDR, AUX_WR_ADDR, and AUX_WR_DATA. For details see subsection “Setup Mode” below.  Set the auxiliary sensor interface to suspend in Register PWR_CTRL.aux_en=0b0. Changing the auxiliary sensor interface power mode to suspend does not imply any mode change in the auxiliary sensor.

4.10.3 Interface Configuration

The I2C address of the auxiliary sensor must be configured in register AUX_DEV_ID.i2c_device_addr. The configuration registers that control the auxiliary sensor interface operation, are only affecting the interface to the auxiliary sensor, not the configuration of the sensor itself (this must be done in setup mode). There are three basis configurations of the auxiliary sensor interface:  No auxiliary sensor access  Setup mode: Auxiliary sensor access in manual mode  Data mode: Auxiliary sensor access through hardware readout loop. The setup of the auxiliary sensor itse lf must be done through the primary interface using indirect addressing in setup mode. When collecting sensor data, the device autonomously triggers the measurement of the auxiliary sensor using the auxiliary sensor forced mode and the data readout from the auxiliary sensor (data mode). In setup mode, the auxiliary sensor may be configured and trim data may be read out from the auxiliary sensor. In the data mode the auxiliary sensor data are continuously copied into the device’s registers and may be read o ut from the device directly over the primary interface. For a BMM150 magnetometer, these are the auxiliary sensor data itself and Hall resistance, temperature is not required. The table below shows how to configure these three modes using the registers PWR_CONF, PWR_CTRL, and AUX_IF_CONF.aux_manual_en. Mode AUX_IF_CONF.aux _manual_en PWR_CONF.adv _power_save PWR_CTRL.aux_en No auxiliary sensor access 1 1 0 Setup mode 1 0 0 Data mode 0 X 1 IF_CONF.aux_en enables (disables) the auxiliary sensor interface. The auxiliary sensor interface operates at 400 kHz. This results in an I2C readout delay of about 250 µs for 10 bytes of data.

Bosch Sensortec | BMI270 Datasheet 57 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 4.10.4 Setup Mode (AUX_IF_CONF.aux_manual_en =0b1) Through the primary interface the auxiliary sensor may be accessed using indirect addressing through the AUX_* registers. AUX_RD_ADDR and AUX_WR_ADDR define the address of the register to read/write in the auxiliary sensor register map and triggers the operation itself, when the auxiliary sensor interface is enabled through PWR_CTRL.aux_en. For reads, the number of data bytes defined in AUX_IF_CONF.aux_rd_burst are read from the auxiliary sensor and written into the device Register DATA_0 to DATA_7. For writes only single bytes are written, independent of the settings in AUX_IF_CONF.aux_rd_burst. The data for the I2C write to auxiliary sensor must be stored in AUX_WR_DATA before the auxiliary sensor register address is written into AUX_WR_ADDR. When a read or write operation is triggered by writing to AUX_RD_ADDR and AUX_WR_ADDR, STATUS.aux_busy is set and it is reset when the operation is completed. For reads the DATA_0 to DATA_7 contains the read data, for writes AUX_WR_DATA may be overwritten again. Configuration phase of the auxiliary sensor. Example: Read bytes 5 and 6 of auxiliary sensor End start check that no manual auxiliary sensor op is running I2C_READ( STATUS, 1) STATUS.aux_man_op=1 ? enable reads/writes, set burst length to 2 I2C_READ( STATUS, 1) I2C_WRITE(AUX_IF_CONF, 0b01000001) Issue I2C read operation for byte 5+6 on auxiliary sensor I2C_WRITE(AUX_RD_ADDR, 0b00000101) check if data is already valid I2C_READ(STATUS, 1) STATUS<2>=1 ? burst read the two bytes I2C_READ(STATUS, 1) I2C_READ(DATA_0, 2) Yes No Yes No

Bosch Sensortec | BMI270 Datasheet 58 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Example: Write 0xEF into byte 3 of auxiliary sensor End start check that no manual auxiliary sensor op is running I2C_READ(STATUS, 1) STATUS<2>=1 ? enable reads/writes I2C_READ(STATUS, 1) I2C_WRITE(AUX_IF_CONF, 0b01000000) write data to be written into IMU I2C_WRITE(AUX_WR_DATA, 0xEF) Issue I2C operation for byte 3 on auxiliary sensor I2C_WRITE(AUX_WR_ADDR, 0b00000011) Check if write completed (optional) I2C_READ(STATUS, 1) STATUS<2>=1 ? I2C_READ(STATUS, 1) Yes No YesNo

Bosch Sensortec | BMI270 Datasheet 59 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 4.10.5 Data Mode (AUX_IF_CONF.aux_manual_en=0) AUX_RD_ADDR.read_addr defines the address of the data register from which to read the number of data bytes configured in AUX_IF_CONF.aux_rd_burst from AUX_0… AUX_7 data of the auxiliary sensor. These data are stored in the DATA_0 up to DATA_7 register. the device uses bit 0 of the DATA_6 register to determine the data ready status. The data ready interrupt fires whenever a new data sample set from the AUX sensor is available in Registers DATA_0 to DATA_7. This allows a low latency data readout. In non -latched mode, the interrupt are cleared automatically after 1/(6400Hz). If this automatic clearance is unwanted, please use latched mode (see Section 4.9). The flag INT_STATUS_1.aux_drdy_int is cleared when the register INT_STATUS_1 is read. The flag STATUS.drdy_aux is cleared when the Registers DATA_0 to DATA_7 are read. To enable the data ready interrupt please map it on the desired INT pin via INT_MAP_DATA. AUX_WR_ADDR.write_addr defines the register address of auxiliary sensor to start a measurement in forced mode in the auxiliary sensor register map. During read and write operations STATUS.aux_busy is set and it is reset, when the operation is completed. The delay (time offset) between triggering an auxiliary sensor measurement and reading the measurement data is specified in AUX_CONF.aux_offset. Reading of the data is done in a single I2C read operation with a burst length specified in AUX_IF_CONF.aux_rd_burst. For BMM150 AUX_IF_CONF.aux_rd_burst should be set to 0b11, i.e. 8 bytes. If AUX_IF_CONF.aux_rd_burst is set to a value lower than 8 bytes, the remaining auxiliary sensor data in the Register DATA_0 to DATA_7 and the FIFO are undefined. It is recommended to disable the auxiliary sensor interface (IF_CONF.aux_en=0b0) before setting up AUX_RD_ADDR.read_addr and AUX_WR_ADDR.write_addr for the data mode. This does not put the auxiliary sensor itself into suspend mode but avoids gathering unwanted data during this phase. Afterwards the auxiliary sensor interface can be enabled (IF_CONF.aux_en =0b1) again.

4.10.6 Delay (Time Offset)

The device supports starting the measurement of the sensor at the auxiliary sensor interface between 2.5 and 37.5 ms before the Register DATA are updated. This offset is defined in AUX_CONF.aux_offset. If set to 0b0, the measurement is done right after the last Register DATA update, therefore this measurement will be included in the next register DATA update.

Bosch Sensortec | BMI270 Datasheet 60 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.11 OIS Interface

The device includes a secondary interface (see Section 6.6 for further details). This may be configured as a dedicated OIS interface. The OIS interface supports phon e architectures which share a IMU for a regular host interface (HMI, activity recognition and gesture recognition, PDR, …) and for optical image stabilization (OIS) at the same time. The OIS interface is a second SPI slave interface, see Section 7.4 for detailed connection diagrams. The OIS controller has access to low latency accelerometer and gyroscope data through the OIS interface. This is independent of the settings on the host interface. E.g. any settings in the Registers ACC_CONF and GYR_CONF will not influence the OIS interface, it remains always in the minimum group delay configuration. With the exception of GYR_CONF.gyr_noise_perf which trades power and noise performance globally for both interfaces, i.e. noise may be reduced w/o compromising group delay. The range of gyroscope data accessible through the OIS in terface is independent of the primary interface setting and is configured thro ugh GYR_RANGE.ois_range. The range of the accelerometer data accessible through the OIS interface is identical to the range setting for t he primary interface and configured through ACC_RANGE.acc_range. The usecase for this data is to stabilize photo and video images by real time motion compensation of the camera lenses. Figure 8: OIS interface *) supported by the marked leading providers of OIS controllers. By default, the OIS interface is in disabled state. If the system design requires an OIS interface, the host enables it by IF_CONF.ois_en=0b1. If the OIS interface is enabled the sensors may be controlled both through the host controller and the OIS controller. The OIS controller has access to a dedicated OIS register map. The OIS data are controlled through the register OIS_CTRL_S. This includes enabling and disabling the accelerometer and gyroscope. The IMU sensor signals for the OIS use case are provided through the secondary interface (in registers OIS_DATA, OIS Register Map, see following subsection) For a more detailed description on how to implement OIS, please contact your regional Bosch Sensortec sales representative.

Bosch Sensortec | BMI270 Datasheet 61 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.11.1 OIS Register Map

Table 16: OIS Register Map read/write read only write only reserved Id: #ai260aa#flow#dig#reg-ipxact#BAI260_AddrMap_Shell.xml,v 1.14 2018-02-02 09:23:38+01 rio1rt Exp Register Address Register Name Default Value 7 6 5 4 3 2 1 0 0x7F reserved … reserved 0x41 reserved 0x40 OIS_CTRL_S 0x00 acc_en gyr_en reserved 0x3F 0x00 reserved … 0x01 reserved 0x18 0x00 reserved 0x17 OIS_DATA_11 0x00 gyr_z_15_8 0x16 OIS_DATA_10 0x00 gyr_z_7_0 0x15 OIS_DATA_9 0x00 gyr_y_15_8 0x14 OIS_DATA_8 0x00 gyr_y_7_0 0x13 OIS_DATA_7 0x00 gyr_x_15_8 0x12 OIS_DATA_6 0x00 gyr_x_7_0 0x11 OIS_DATA_5 0x00 acc_z_15_8 0x10 OIS_DATA_4 0x00 acc_z_7_0 0x0F OIS_DATA_3 0x00 acc_y_15_8 0x0E OIS_DATA_2 0x00 acc_y_7_0 0x0D OIS_DATA_1 0x00 acc_x_15_8 0x0C OIS_DATA_0 0x00 acc_x_7_0 0x0B 0x00 reserved … - reserved 0x00 0x27 reserved

Bosch Sensortec | BMI270 Datasheet 62 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 DESCRIPTION: These 12 registers publish accelerometer and gyroscope data. The register map layout is identical to the host register map (see Section 5, Registers DATA_8 .. DATA_19). The registers of both register maps are separate instances and thus their content is not a simple copy of each other. The OIS registers provide output data of a separate low latency datapath. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0C..0x17 OIS_DATA_0..11 0x00 7...0 acc_x_7_0 to gyr_z_15_8 0x0 R

4.11.3 Register (0x40) OIS_CTRL_S

DESCRIPTION: controls the IMU through the OIS interface RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x40 OIS_CTRL_S 0x00 7 acc_en Enables accelerometer via OIS interface in registers OIS_DATA_0 till OIS_DATA_5 with minimum group delay @ 1.6KHz ODR 0x0 RW 6 gyr_en Enables gyroscope via OIS interface in registers OIS_DATA_6 till OIS_DATA_11 with minimum group delay @ 6.4KHz ODR 0x0 RW

Bosch Sensortec | BMI270 Datasheet 63 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.12 Sensor Self-Test

4.12.1 Accelerometer

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. The recommended self test procedure is as follows: 1. Enable accelerometer with register PWR_CTRL.acc_en=1b1. 2. Set ±16g range in register ACC_RANGE.acc_range 3. Set self test amplitude to high by setting ACC_SELF_TEST.acc_self_test_amp = 1b1 4. Set ACC_CONF.acc_odr=1600Hz, Continuous sampling mode, ACC_CONF.acc_bwp=norm_avg4, ACC_CONF.acc_filter_perf=1b1. 5. Wait for > 2 ms 6. Set positive self-test polarity (ACC_SELF_TEST.acc_self_test_sign= 1b1) 7. Enable self-test ACC_SELF_TEST.acc_self_test_en = 1b1 8. Wait for > 50ms 9. Read and store positive acceleration value of each axis from registers DATA_8 to DATA_13 10. Set negative self-test polarity ACC_SELF_TEST.acc_self_test_sign= 1b0) 11. Enable self-test ACC_SELF_TEST.acc_self_test_en = 1b1 12. Wait for > 50ms 13. Read and store negative acceleration value of each axis from registers DATA_8 to DATA_13 14. Calculate difference of positive and negative acceleration values and compare against minimum difference signal values defined in the table below 15. Disable self-test ACC_SELF_TEST.acc_self_test_en = 1b0 The table below shows the minimum differences for each axis in order for the self test to pass. The actually measured signal differences can be significantly larger. Self-test: Resulting minimum difference signal x-axis signal y-axis signal z-axis signal Accelerometer > +16g < -15g > +10g 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, and enable desired interrupts.

Bosch Sensortec | BMI270 Datasheet 64 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.12.2 Gyroscope

The gyroscope self test consists of independent parts, a drive test, a sense test, and a datapath test. To perform a gyroscope self-test 1. Issue a soft reset (see Section 4.17) or a power-on reset (POR) (see Section 4.4) 2. Initialize device (see Section 4.4) 3. Disable APS PWR_CONF.adv_power_save=0b0 and wait for 450us 4. Enable accelerometer PWR_CTRL.acc_en=0b1 5. Ensure that the device is at rest during self-test execution 6. Send g_trigger command using the register CMD 7. Self-test is complete, after the device sets GYR_SELF_TEST_AXES.gyr_st_axes_done=0b1 8. GYR_GAIN_STATUS.g_trig_status reports a successful self-test or execution errors 9. The test passed if all axes report the status “ok” by GYR_SELF_TEST_AXES.gyr_axis_[xyz]_ok=0b1. During the gyroscope self-test described above and at every gyroscope startup, i.e.:  PWR_CTRL.gyr_en: 0b0->0b1 and PWR_CONF.fup_en==0b0 or  PWR_CONF.fup_en: 0b0->0b1 and PWR_CTRL.gyr_en==0b0 a drive test is automatically performed and if it fails it is reported through ERR_REG.fatal_err latest after 320 ms.

Bosch Sensortec | BMI270 Datasheet 65 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.13 Offset Compensation

4.13.1 Accelerometer

The device offers manual compensation as well as inline calibration. Offset compensation is performed with pre -filtered data, and the offset is then applied to both, pre -filtered 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). Manual Offset Compensation The offset compensation Registers OFFSET_0 to OFFSET_2 are initialized out of the corresponding registers in the NVM during power on or soft reset. These registers can be overwritten by the user at any time. After modifying the Register OFFSET_0 to OFFSET_2 the next data sample is not valid. The offset compensation registers have a width of 8 bit using two’s complement notation. The offset resolution (LSB) is 3.9 mg and the offset range is ± 0.5 g. Both are independent of the range setting. Offset compensation needs to be enabled through NV_CONF.acc_off_en = 0b1 Fast Offset Compensation FOC (Semi-Automatic Offset Compensation) 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 manual offset compensation to determine the proper compensation values and then storing these values permanently in the NVM. 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.

4.13.2 Gyroscope

Offset compensation is performed with pre -filtered data, and the offset is then applied to both, pre -filtered 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). Manual Offset Compensation The offset compensation Registers OFFSET_3 to OFFSET_6 are initialized out images of the corresponding registers in the NVM during power on or soft reset. These registers can be overwritten by the user at any time. After modifying the Register OFFSET_3 to OFFSET_6 the next data sample is not valid. The offset compensation field for each axis has a width of 10 bit using two’s complement notation. The offset resolution (LSB) is 61 mdps and the offset range is ±31 dps. Both are independent of the range setting. Offset compensation needs to be enabled through OFFSET_6.gyr_off_en. Fast Offset Compensation FOC (Semi-Automatic Offset Compensation) 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 manual offset compensation to determine the proper compensation values and then storing these values permanently in the NVM. 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.

Bosch Sensortec | BMI270 Datasheet 66 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 In-use Offset Compensation IOC (Full-Automatic Offset Compensation) MEMS devices typically show offset drifts due to thermomechanical stress effects within the application, the use-case or over lifetime. To compensate such potential drifts the device offers an in -use offset compensation (IOC), which operates fully autonomous without any necessary host interaction and in parallel to the normal device operation. The host can choose to use either the built-in full automatic IOC feature to compensate the gyroscope offset in registers OFFSET_3 … OFFSET_6 or control these registers manually. This is controlled by the Register GEN_SET_1.gyr_self_off. The device will update the gyroscope offset registers automatically if all of the following conditions are met (host should not update the registers OFFSET_3 … OFFSET_6 when this feature is enabled):  Bit GEN_SET_1.gyr_self_off is 1  Bit OFFSET_6.gyr_off_en is 1  Accelerometer is enabled from either primary or OIS interface  Gyroscope is enabled from primary interface  Gyroscope is disabled from OIS interface If any one of the above conditions are not met, then the feature is disabled. In this case, host can update the gyroscope offset registers. The recommended way to disable this feature is to clear the GEN_SET_1.gyr_self_off bit to 0.

Bosch Sensortec | BMI270 Datasheet 67 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

4.14 Sensitivity Error Compensation

4.14.1 Accelerometer

The device supports an ultra low sensitivity (gain) compensation already by design. Refer to Section 1.

4.14.2 Gyroscope

The device supports sensitivity (gain) compensation (e.g. to compensate for a soldering drift). This can be done either manually by rotating the device and comparing against a known reference or motionless using CRT (Component ReTrimming). Manual SENS Error Compensation The device supports correcting the sensitivity difference, with respect to the reference system using manual SENS error compensation. Assuming the offset of the gyro is compensated, gain compensation is enabled (OFFSET6.gyr_gain_en=0b1) and the gyroscope reports ωm, whereas the reference system reports ωr, the host must supply the rate ratios ωr[x-z]/ωm[x-z] in the Registers GYR_GAIN_UPD_[1-3]. The encoding is given by a. Bit width = 11 bits (FxP representation is 1.10) e.g. 1+25% = 1.25 is represented as b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 1 0 1 0 0 0 0 0 0 0 0 e.g. 1+0.09765% = 1.0009765 is represented as b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 1 0 0 0 0 0 0 0 0 0 1 e.g. 1-0.09765% = 0.9990234 is represented as b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 0 1 1 1 1 1 1 1 1 1 1 e.g. 1-25% = 0.75 is represented as b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 0 1 1 0 0 0 0 0 0 0 0 The host must enable th e update operation via Register GYR_GAIN_UPD_3.enable =0b1 and disable the gyroscope (PWR_CTRL.gyr_en=0b0) before triggering the manual SENS error compensation operation via issuing a command usr_gain to the Register CMD. After GYR_GAIN_UPD_3.enable bit gets cleared, the operation is completed, and the host can reenable the gyroscope (PWR_CTRL.gyr_en=0b1) In case the compensation reaches the compensation range limit, the device reports this through Register GYR_GAIN_STATUS. This compensated sensitivity value may be retained over power cycles by storing it in NVM, see Section 4.15 for details.

Bosch Sensortec | BMI270 Datasheet 68 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Component ReTrimming Feature CRT (Fast, motionless SENS Error Compensation) For motionless SENS error compensation (CRT) the following flow needs to be executed: 1. Issue a soft reset (see Section 4.17) or a power-on reset (POR) (see Section 4.4) 2. Initialize device (see Section 4.4) 3. Disable APS PWR_CONF.adv_power_save=0b0 and wait for 450us 4. Enable gyroscope gain compensation OFFSET_6.gyr_gain_en=0b1 5. Enable accelerometer PWR_CTRL.acc_en=0b1 6. Ensure that the device is at rest during CRT execution 7. Set GYR_CRT_CONF.crt_running=0b1 8. Set G_TRIG_1.select=1 9. Set G_TRIG_1.block=0 10. Send g_trigger command using the register CMD 11. CRT is complete, after the device sets GYR_CRT_CONF.crt_running=0b0 12. GYR_GAIN_STATUS.g_trig_status reports a successful CRT run or execution errors 13. Optionally, the new gyroscope gain values can be programmed to NVM. See Section 4.15 for details about NVM programming. 14. The new gain values are applied automatically at the next start of the gyroscope. If the device detects motion during the CRT flow, the operation is aborted and the gain remains unchanged. If CRT is abort, Register GYR_GAIN_STATUS.g_trig_status will be set to 0x03. CRT may run in the ful l operating temperature range. We recommend to run CRT at the operating temperature of the device. The sensitivity error is typically minimal at the temperature CRT was performed at. We recommend performing CRT according the description above for one -time CRT calibration. Both one -time and repeated CRT is supported by the device.

4.15 Non-Volatile Memory

The registers NV_CONF, OFFSET_0 to OFFSET_6, AUX_IF_TRIM, and DRV have an NVM backup which are accessible by the user. In addition, the registers for the sensitivity error compensation for the gyroscope are included in the NVM backup (see Section 4.14). The content of the NVM is loaded to the image registers after a reset (either POR or softreset). As long as the image update is in progress, STATUS.cmd_rdy is 0b0, otherwise it is 0b1. The image registers can be read and written like any other register. Writing to the NVM is a 7-step procedure: 1. Set PWR_CONF.adv_power_save = 0b0 2. Write the new contents to the image registers. 3. Prepare NVM write by setting GEN_SET_1.nvm_prog_prep =0b1 4. Wait 40 ms 5. Write 0b1 to bit NVM_CONF.nvm_prog_en in order to unlock the NVM. 6. Write prog_nvm to the CMD register to trigger the write process. Writing to the NVM always renews the entire NVM contents and is limited in write cycles. It is possible to check the is still in progress; when STATUS.cmd_rdy = 0b1, writing is completed. An NVM write cycle can only be initiated, if PWR_CONF.adv_power_save = 0b0.

Bosch Sensortec | BMI270 Datasheet 69 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Until boot phase is finished (after POR or softreset), the serial interface is not operational. The NVM shadow registers must not be accessed during an ongoing NVM command (initiated through the Register CMD). In all other cases, register can be read or written. As long as an NVM read (during sensor boot and soft reset) or an NVM write is ongoing, writes to sensor registers are discarded, reads return the Register STATUS independent of the read address.

4.16 Error Reporting

Device errors during operation are reported through the registers ERR_REG (hardware errors), EVENT (POR and invalid configuration events), INTERNAL_STATUS (initialization and invalid configuration), and INTERNAL_ERROR (unexpected behavior). Reserved bits in the error registers are for Bosch Sensortec internal purposes and can be ignored safely. The register ERR_REG_MSK controls which bits in Register ERR_REG trigger an interrupt. Register INT_MAP_DATA.err_int1 and INT_MAP_DATA.err_int2 defines on which interrupt pin, the error interrupt is mapped. Illegal settings in configuration registers ACC_CONF and GYR_CONF will result in an error code in Register EVENT. The content of the data register is undefined. Sensor Self-Test errors are covered in Section 4.12.

4.17 Soft Reset

A softreset can be initiated at any time by writing the command softreset (0xB6) to register CMD. The softreset performs a fundamental reset to the device which is largely equivalent to a power cycle (see section 4.4). Following a delay, all user configuration settings are overwritten with their default state (setting stored in the NVM) wherever applicable. This command is functional in all operation modes but must not be performed while NVM writing operation is in progress. To access the SPI or I2C interface after a soft-reset, the same timing constraints apply as for power on, see Section 1 for details

Bosch Sensortec | BMI270 Datasheet 70 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5 Register Description

5.1 General Remarks

This section contains register definitions. REG[x]<y> denotes bit y in byte x in register REG. Val(Name) is the value contained in the register interpreted as non-negative binary number. If writing to reserved bits, the reset value should be written if not stated different. For most of the registers auto address increment a pplies for, with the exception of the registers below, which trap the address:  FIFO_DATA  INIT_DATA Register read from a burst read must remain consistent. In order to ensure this, when a read starts in one register of a group, the registers in this group are shadowed:  STATUS, DATA_x, SENSORTIME_x, TEMPERATURE_x, SC_OUT_x, FIFO_LENGTH_x  FEATURES The registers listed below are clear-on-read:  ERR_REG  STATUS.drdy_acc (cleared when DATA_9.acc_x_15_8 is read),  STATUS.drdy_gyr (cleared when DATA_15.gyr_x_15_8 is read)  STATUS.drdy_aux (cleared when DATA_1.aux_x_15_8 is read)  EVENT  INT_STATUS_0  INT_STATUS_1 The register clearance happens, when bit 0 of the corresponding register is read.

Bosch Sensortec | BMI270 Datasheet 71 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2 Register Map

read/write read only write only reserved Corresponding to BMI270_main.tbin version 4.8, register map version 4.4 Register Address Register Name Default Value 7 6 5 4 3 2 1 0 0x7E CMD 0x00 cmd 0x7D PWR_CTR L 0x00 reserved temp_en acc_en gyr_en aux_en 0x7C PWR_CO NF 0x03 reserved fup_en fifo_self_w ake_up adv_power _save 0x7B - - reserved ... - - reserved 0x78 - - reserved 0x77 OFFSET_6 0x00 gyr_gain_e n 0x76 OFFSET_5 0x00 gyr_usr_off_z_7_0 0x75 OFFSET_4 0x00 gyr_usr_off_y_7_0 0x74 OFFSET_3 0x00 gyr_usr_off_x_7_0 0x73 OFFSET_2 0x00 off_acc_z 0x72 OFFSET_1 0x00 off_acc_y 0x71 OFFSET_0 0x00 off_acc_x 0x70 NV_CONF 0x00 reserved acc_off_en i2c_wdt_en i2c_wdt_se l spi_en 0x6F - - reserved 0x6E GYR_SEL F_TEST_A XES 0x00 reserved gyr_axis_z _ok gyr_axis_y _ok gyr_axis_x _ok gyr_st_axe s_done 0x6D ACC_SEL F_TEST 0x00 reserved acc_self_te st_amp acc_self_te st_sign reserved acc_self_te st_en 0x6C DRV 0xAA io_pad_i2c _b2 io_pad_drv2 io_pad_i2c _b1 io_pad_drv1 0x6B IF_CONF 0x00 reserved aux_en ois_en reserved spi3_ois spi3 0x6A NVM_CON F 0x00 reserved nvm_prog_ en reserved 0x69 GYR_CRT _CONF 0x00 reserved rdy_for_dl crt_running reserved 0x68 AUX_IF_T RIM 0x01 reserved asda_pupsel 0x67 - - reserved ... - - reserved 0x60 - - reserved 0x5F INTERNAL _ERROR 0x00 reserved feat_eng_d isabled reserved int_err_2 int_err_1 reserved 0x5E INIT_DATA 0x00 data 0x5D - - reserved 0x5C INIT_ADD R_1 0x00 base_11_4

Bosch Sensortec | BMI270 Datasheet 72 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x5B INIT_ADD R_0 0x00 reserved base_0_3 0x5A - - reserved 0x59 INIT_CTRL 0x00 init_ctrl 0x58 INT_MAP_ DATA 0x00 err_int2 drdy_int2 fwm_int2 ffull_int2 err_int1 drdy_int1 fwm_int1 ffull_int1 0x57 INT2_MAP _FEAT 0x00 reserved any_motio n_out no_motion _out wrist_gestu re_out wrist_wear _wakeup_ out activity_out step_count er_out sig_motion _out 0x56 INT1_MAP _FEAT 0x00 reserved any_motio n_out no_motion _out wrist_gestu re_out wrist_wear _wakeup_ out activity_out step_count er_out sig_motion _out 0x55 INT_LATC H 0x00 reserved int_latch 0x54 INT2_IO_C TRL 0x00 reserved input_en output_en od lvl reserved 0x53 INT1_IO_C TRL 0x00 reserved input_en output_en od lvl reserved 0x52 ERR_REG _MSK 0x00 aux_err fifo_err reserved internal_err fatal_err 0x51 - - reserved 0x50 - - reserved 0x4F AUX_WR_ DATA 0x02 write_data 0x4E AUX_WR_ ADDR 0x4C write_addr 0x4D AUX_RD_ ADDR 0x42 read_addr 0x4C AUX_IF_C ONF 0x83 aux_manu al_en aux_fcu_w rite_en reserved man_rd_burst aux_rd_burst 0x4B AUX_DEV _ID 0x20 i2c_device_addr reserved 0x4A SATURATI ON 0x00 reserved gyr_z gyr_y gyr_x acc_z acc_y acc_x 0x49 FIFO_CON FIG_1 0x10 fifo_gyr_en fifo_acc_e n fifo_aux_e n fifo_header _en fifo_tag_int2_en fifo_tag_int1_en 0x48 FIFO_CON FIG_0 0x02 reserved fifo_time_e n fifo_stop_o n_full 0x47 FIFO_WT M_1 0x02 reserved fifo_water_mark_12_8 0x46 FIFO_WT M_0 0x00 fifo_water_mark_7_0 0x45 FIFO_DO WNS 0x88 acc_fifo_filt _data acc_fifo_downs gyr_fifo_filt _data gyr_fifo_downs 0x44 AUX_CON F 0x46 aux_offset aux_odr 0x43 GYR_RAN GE 0x00 reserved ois_range gyr_range 0x42 GYR_CON F 0xA9 gyr_filter_p erf gyr_noise_ perf gyr_bwp gyr_odr

Bosch Sensortec | BMI270 Datasheet 73 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x41 ACC_RAN GE 0x02 reserved acc_range 0x40 ACC_CON F 0xA8 acc_filter_ perf acc_bwp acc_odr 0x3F FEATURE S[15] 0x00 0x30 FEATURE S[0] 0x00 0x2F FEAT_PAG E 0x00 reserved page 0x2E - - reserved ... - - reserved 0x27 - - reserved 0x26 FIFO_DAT A 0x00 fifo_data 0x25 FIFO_LEN GTH_1 0x00 reserved fifo_byte_counter_13_8 0x24 FIFO_LEN GTH_0 0x00 fifo_byte_counter_7_0 0x23 TEMPERA TURE_1 0x80 tmp_data_15_8 0x22 TEMPERA TURE_0 0x00 tmp_data_7_0 0x21 INTERNAL _STATUS 0x00 Reserved odr_50hz_ error axes_rema p_error Reserved message 0x20 WR_GEST _ACT 0x00 reserved act_out wr_gest_out 0x1F SC_OUT_ 0x00 byte_1 0x1E SC_OUT_ 0x00 byte_0 0x1D INT_STAT US_1 0x00 acc_drdy_i nt gyr_drdy_i nt aux_drdy_i nt reserved err_int fwm_int ffull_int 0x1C INT_STAT US_0 0x00 reserved any_motio n_out no_motion _out wrist_gestu re_out wrist_wear _wakeup_ out activity_out step_count er_out sig_motion _out 0x1B EVENT 0x01 reserved error_code reserved por_detect ed 0x1A SENSORT IME_2 0x00 sensor_time_23_16 0x19 SENSORT IME_1 0x00 sensor_time_15_8 0x18 SENSORT IME_0 0x00 sensor_time_7_0 0x17 DATA_19 0x00 gyr_z_15_8 0x16 DATA_18 0x00 gyr_z_7_0 0x15 DATA_17 0x00 gyr_y_15_8 0x14 DATA_16 0x00 gyr_y_7_0

Bosch Sensortec | BMI270 Datasheet 74 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x13 DATA_15 0x00 gyr_x_15_8 0x12 DATA_14 0x00 gyr_x_7_0 0x11 DATA_13 0x00 acc_z_15_8 0x10 DATA_12 0x00 acc_z_7_0 0x0F DATA_11 0x00 acc_y_15_8 0x0E DATA_10 0x00 acc_y_7_0 0x0D DATA_9 0x00 acc_x_15_8 0x0C DATA_8 0x00 acc_x_7_0 0x0B DATA_7 0x00 aux_r_15_8 0x0A DATA_6 0x00 aux_r_7_0 0x09 DATA_5 0x00 aux_z_15_8 0x08 DATA_4 0x00 aux_z_7_0 0x07 DATA_3 0x00 aux_y_15_8 0x06 DATA_2 0x00 aux_y_7_0 0x05 DATA_1 0x00 aux_x_15_8 0x04 DATA_0 0x00 aux_x_7_0 0x03 STATUS 0x10 drdy_acc drdy_gyr drdy_aux cmd_rdy reserved aux_busy reserved 0x02 ERR_REG 0x00 aux_err fifo_err reserved internal_err fatal_err 0x01 - - reserved 0x00 CHIP_ID 0x24 chip_id FEATURES Pages Register Address Register Name Page 0 Page 1 Page 2 Page 3 0x30 FEATURES[0,1] SC_OUT_0_1 Reserved NOMO_1 SC_1 0x32 FEATURES[2,3] SC_OUT_2_3 G_TRIG_1 NOMO_2 SC_2 0x34 FEATURES[4,5] ACT_OUT GEN_SET_1 SIGMO_1 SC_3 0x36 FEATURES[6,7] WR_GEST_OUT GYR_GAIN_UPD_1 Reserved SC_4 0x38 FEATURES[8,9] GYR_GAIN_STATUS GYR_GAIN_UPD_2 Reserved SC_5 0x3A FEATURES[10,11] Reserved GYR_GAIN_UPD_3 Reserved SC_6 0x3C FEATURES[12,13] GYR_CAS ANYMO_1 Reserved SC_7 0x3E FEATURES[14,15] Reserved ANYMO_2 SIGMO_2 SC_8 FEATURES Pages Register Address Register Name Page 4 Page 5 Page 6 Page 7 0x30 FEATURES[0,1] SC_9 SC_17 SC_25 WR_WAKEUP_1 0x32 FEATURES[2,3] SC_10 SC_18 SC_26 WR_WAKEUP_2 0x34 FEATURES[4,5] SC_11 SC_19 SC_27 WR_WAKEUP_3 0x36 FEATURES[6,7] SC_12 SC_20 WR_GEST_1 WR_WAKEUP_4 0x38 FEATURES[8,9] SC_13 SC_21 WR_GEST_2 WR_WAKEUP_5 0x3A FEATURES[10,11] SC_14 SC_22 WR_GEST_3 WR_WAKEUP_6 0x3C FEATURES[12,13] SC_15 SC_23 WR_GEST_4 WR_WAKEUP_7 0x3E FEATURES[14,15] SC_16 SC_24 Reserved Reserved

Bosch Sensortec | BMI270 Datasheet 75 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.1 Register (0x00) CHIP_ID

DESCRIPTION: Chip identification code RESET: 0x24 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x00 CHIP_ID 0x24 7...0 chip_id Chip identification code 0x24 R

5.2.2 Register (0x02) ERR_REG

DESCRIPTION: Reports sensor error conditions RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x02 ERR_REG 0x00 0 fatal_err Fatal Error, chip is not in operational state (Boot-, power-system). This flag will be reset only by power- on-reset or softreset. 0x0 R 4...1 internal_err Internal error, please contact your Bosch Sensortec regional support team. 0x0 R 6 fifo_err Error when a frame is read in streaming mode (so skipping is not possible) and fifo is overfilled (with virtual and/or regular frames). This flag will be reset when read. 0x0 R 7 aux_err Error in I2C-Master detected. This flag will be reset when read. 0x0 R

5.2.3 Register (0x03) STATUS

DESCRIPTION: Sensor status flags RESET: 0x10 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x03 STATUS 0x10 2 aux_busy ‘1’(‘0’) indicate a (no) Auxiliary sensor interface operation is ongoing triggered via AUX_RD_ADDR, AUX_WR_ADDR or from FCU. 0x0 R 4 cmd_rdy CMD decoder status. \0´ -> Command in progress \1´ -> Command decoder is ready to accept a new command 0x1 R 5 drdy_aux Data ready for Auxiliary sensor. It gets reset, when one Auxiliary sensor DATA register is read out 0x0 R 6 drdy_gyr Data ready for Gyroscope. It gets reset, when one Gyroscope DATA register is read out 0x0 R 7 drdy_acc Data ready for Accelerometer. It gets reset, when one Accelerometer DATA register is read out 0x0 R

Bosch Sensortec | BMI270 Datasheet 76 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.4 Register (0x04) DATA_0

DESCRIPTION: AUX_X(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x04 DATA_0 0x00 7...0 aux_x_7_0 copy of register Val(AUX_IF[1]) in Auxiliary sensor register map. 0x0 R

5.2.5 Register (0x05) DATA_1

DESCRIPTION: AUX_X(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x05 DATA_1 0x00 7...0 aux_x_15_8 copy of register Val(AUX_IF[1])+1 in Auxiliary sensor register map 0x0 R

5.2.6 Register (0x06) DATA_2

DESCRIPTION: AUX_Y(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x06 DATA_2 0x00 7...0 aux_y_7_0 copy of register Val(AUX_IF[1])+2 in Auxiliary sensor register map 0x0 R

5.2.7 Register (0x07) DATA_3

DESCRIPTION: AUX_Y(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x07 DATA_3 0x00 7...0 aux_y_15_8 copy of register Val(AUX_IF[1])+3 in Auxiliary sensor register map 0x0 R

Bosch Sensortec | BMI270 Datasheet 77 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.8 Register (0x08) DATA_4

DESCRIPTION: AUX_Z(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x08 DATA_4 0x00 7...0 aux_z_7_0 copy of register Val(AUX_IF[1])+4 in Auxiliary sensor register map 0x0 R

5.2.9 Register (0x09) DATA_5

DESCRIPTION: AUX_Z(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x09 DATA_5 0x00 7...0 aux_z_15_8 copy of register Val(AUX_IF[1])+5 in Auxiliary sensor register map 0x0 R

5.2.10 Register (0x0A) DATA_6

DESCRIPTION: AUX_R(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0A DATA_6 0x00 7...0 aux_r_7_0 copy of register Val(AUX_IF[1])+6 in Auxiliary sensor register map 0x0 R

5.2.11 Register (0x0B) DATA_7

DESCRIPTION: AUX_R(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0B DATA_7 0x00 7...0 aux_r_15_8 copy of register Val(AUX_IF[1])+7 in Auxiliary sensor register map 0x0 R

Bosch Sensortec | BMI270 Datasheet 78 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.12 Register (0x0C) DATA_8

DESCRIPTION: ACC_X(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0C DATA_8 0x00 7...0 acc_x_7_0 0x0 R

5.2.13 Register (0x0D) DATA_9

DESCRIPTION: ACC_X(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0D DATA_9 0x00 7...0 acc_x_15_8 0x0 R

5.2.14 Register (0x0E) DATA_10

DESCRIPTION: ACC_Y(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0E DATA_10 0x00 7...0 acc_y_7_0 0x0 R

5.2.15 Register (0x0F) DATA_11

DESCRIPTION: ACC_Y(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x0F DATA_11 0x00 7...0 acc_y_15_8 0x0 R

Bosch Sensortec | BMI270 Datasheet 79 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.16 Register (0x10) DATA_12

DESCRIPTION: ACC_Z(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x10 DATA_12 0x00 7...0 acc_z_7_0 0x0 R

5.2.17 Register (0x11) DATA_13

DESCRIPTION: ACC_Z(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x11 DATA_13 0x00 7...0 acc_z_15_8 0x0 R

5.2.18 Register (0x12) DATA_14

DESCRIPTION: GYR_X(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x12 DATA_14 0x00 7...0 gyr_x_7_0 0x0 R

5.2.19 Register (0x13) DATA_15

DESCRIPTION: GYR_X(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x13 DATA_15 0x00 7...0 gyr_x_15_8 0x0 R

Bosch Sensortec | BMI270 Datasheet 80 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.20 Register (0x14) DATA_16

DESCRIPTION: GYR_Y(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x14 DATA_16 0x00 7...0 gyr_y_7_0 0x0 R

5.2.21 Register (0x15) DATA_17

DESCRIPTION: GYR_Y(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x15 DATA_17 0x00 7...0 gyr_y_15_8 0x0 R

5.2.22 Register (0x16) DATA_18

DESCRIPTION: GYR_Z(LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x16 DATA_18 0x00 7...0 gyr_z_7_0 0x0 R

5.2.23 Register (0x17) DATA_19

DESCRIPTION: GYR_Z(MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x17 DATA_19 0x00 7...0 gyr_z_15_8 0x0 R

Bosch Sensortec | BMI270 Datasheet 81 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.24 Register (0x18) SENSORTIME_0

DESCRIPTION: Sensor time <7:0> RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x18 SENSORTIME_0 0x00 7...0 sensor_time_7_0 Sensor time <7:0> 0x0 R

5.2.25 Register (0x19) SENSORTIME_1

DESCRIPTION: Sensor time <15:8> RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x19 SENSORTIME_1 0x00 7...0 sensor_time_15_8 Sensor time <15:8>. 0x0 R

5.2.26 Register (0x1A) SENSORTIME_2

DESCRIPTION: Sensor time <23:16> RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x1A SENSORTIME_2 0x00 7...0 sensor_time_23_16 Sensor time <23:16> The sensor time is a 24 bit counter available in suspend, low power, and normal mode. The value of the SENSORTIME register is shadowed, when it is read in a burst read with the data register at the beginning of the operation and the shadowed value is returned. When the fifo is read the register is shadowed, whenever a new frame is read. The resolution of the sensor_time is 39.0625 us, and it is synchrounous to ODR. The register wraps if it reaches 0xFFFFFF. 0x0 R

Bosch Sensortec | BMI270 Datasheet 82 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.27 Register (0x1B) EVENT

DESCRIPTION: Sensor event flags. Will be cleared on read when bit 0 is sent out over the bus. RESET: 0x01 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x1B EVENT 0x01 0 por_detected '1' after device power up or softreset, '0' after status read. 0x1 R 4...2 error_code Error codes for persistent errors Value Name Description 0x00 no_error no error is reported 0x01 acc_err error in Register ACC_CONF 0x02 gyr_err error in Register GYR_CONF 0x03 acc_and_gyr_err error in Registers ACC_GYR & GYR_CONF 0x0 R

5.2.28 Register (0x1C) INT_STATUS_0

DESCRIPTION: Interrupt/Feature Status. Will be cleared on read. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x1C INT_STATUS_0 0x00 0 sig_motion_out Sigmotion output. 0x0 R 1 step_counter_out Step-counter watermark or Step-detector output 0x0 R 2 activity_out Step activity output 0x0 R 3 wrist_wear_wakeup_out Wrist wear wakeup output 0x0 R 4 wrist_gesture_out Wrist gesture output 0x0 R 5 no_motion_out No motion detection output 0x0 R 6 any_motion_out Any motion detection output 0x0 R 7 reserved Reserved 0x0 R

Bosch Sensortec | BMI270 Datasheet 83 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.29 Register (0x1D) INT_STATUS_1

DESCRIPTION: Interrupt Status 1. Will be cleared on read when bit 0 is sent out over the bus. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x1D INT_STATUS_1 0x00 0 ffull_int FIFO Full Interrupt 0x0 R 1 fwm_int FIFO Watermark Interrupt 0x0 R 2 err_int ERROR Interrupt 0x0 R 5 aux_drdy_int Auxiliary Data Ready Interrupt 0x0 R 6 gyr_drdy_int Gyroscope Data Ready Interrupt 0x0 R 7 acc_drdy_int Accelerometer Data Ready Interrupt 0x0 R

5.2.30 Register (0x1E) SC_OUT_0

DESCRIPTION: Step counting value byte-0 RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x1E SC_OUT_0 0x00 7...0 byte_0 Step counting value byte-0 (least significant byte) 0x0 R

5.2.31 Register (0x1F) SC_OUT_1

DESCRIPTION: Step counting value byte-1 RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x1F SC_OUT_1 0x00 7...0 byte_1 Step counting value byte-1 0x0 R

Bosch Sensortec | BMI270 Datasheet 84 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.32 Register (0x20) WR_GEST_ACT

DESCRIPTION: Wrist gesture and activity detection output RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x20 WR_GEST_ACT 0x00 2...0 wr_gest_out Output value of the wrist gesture detection feature. Value after device initialization is 0b00 i.e. unknown gesture Value Name Description 0x00 unknown_gesture Unknown gesture 0x01 push_arm_down Push arm down gesture 0x02 pivot_up Pivot up gesture 0x03 wrist_shake_jiggle Wrist shake/jiggle gesture 0x04 flick_in Arm flick in gesture 0x05 flick_out Arm flick out gesture 0x0 R 4...3 act_out Output value of the activity detection feature. Value after device initialization is 0b11 i.e. unknown activity Value Name Description 0x00 still User stationary 0x01 walking User walking 0x02 running User running 0x03 unknown Unknown state 0x0 R

Bosch Sensortec | BMI270 Datasheet 85 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.33 Register (0x21) INTERNAL_STATUS

DESCRIPTION: Error bits and message indicating internal status RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x21 INTERNAL_STATUS 0x00 3...0 message Internal Status Message Value Name Description 0x00 not_init ASIC is not initialized 0x01 init_ok ASIC initialized 0x02 init_err Initialization error 0x03 drv_err Invalid driver 0x04 sns_stop Sensor stopped 0x05 nvm_error Internal error while accessing NVM 0x06 start_up_error Internal error while accessing NVM and Initialization error 0x07 compat_error Compatibility error 0x0 R

4 Reserved Reserved 0x0 R

5 axes_remap_error Incorrect axes remapping. X,Y,Z axes must be mapped to exclusively separate axes i.e. they cannot be mapped to same axes. 0x0 R 6 odr_50hz_error The minimum bandwidth conditions are not respected for the features which require 50 Hz data. 0x0 R

7 Reserved Reserved 0x0 R

Bosch Sensortec | BMI270 Datasheet 86 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.34 Register (0x22) TEMPERATURE_0

DESCRIPTION: Temperature LSB; The temperature is disabled when all sensors are in suspend. The output word of the 16-bit temperature sensor is valid if the Gyroscope is in normal mode, i.e. gyr_pmu_status=1. The resolution is 1/2^9 K/LSB. The absolute accuracy of the temperature is in the order of: 0x0000 -> 23°C 0x8000 -> invalid If the Gyroscope is in normal mode (see register PMU_STATUS), the temperature is updated every 10 ms (+- 12%), if the gyroscope is in standby mode or fast-power up mode, the temperature is updated ever 1.28 s aligned with bit 15 of the register SENSORTIME. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x22 TEMPERATURE_0 0x00 7...0 tmp_data_7_0 Temperature value. 0x0 R

5.2.35 Register (0x23) TEMPERATURE_1

DESCRIPTION: Contains the MSBs of temperature sensor value RESET: 0x80 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x23 TEMPERATURE_1 0x80 7...0 tmp_data_15_8 Temperature LSBs. 0x80 R

5.2.36 Register (0x24) FIFO_LENGTH_0

DESCRIPTION: FIFO byte count register (LSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x24 FIFO_LENGTH_0 0x00 7...0 fifo_byte_counter_7_0 Current fill level of FIFO buffer This includes the skip frame for a full fifo. An empty FIFO corresponds to 0x000. The byte counter may be reset by reading out all frames from the FIFO buffer or when the FIFO is reset through the register CMD. The byte counter is updated each time a complete frame was read or written. 0x0 R

Bosch Sensortec | BMI270 Datasheet 87 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.37 Register (0x25) FIFO_LENGTH_1

DESCRIPTION: FIFO byte count register (MSB) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x25 FIFO_LENGTH_1 0x00

5.2.38 Register (0x26) FIFO_DATA

DESCRIPTION: FIFO data output register RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x26 FIFO_DATA 0x00 7...0 fifo_data FIFO read data,for burst read (8 bits). Data format depends on the setting of register FIFO_CONFIG. The FIFO data are organized in frames. The new data flag is preserved. Read burst access must be used, the address will not increment when the read burst reads at the address of FIFO_DATA. When a frame is only partially read out it is retransmitted including the header at the next readout. 0x0 R

5.2.39 Register (0x2F) FEAT_PAGE

DESCRIPTION: Page number for feature configuration and output registers RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x2F FEAT_PAGE 0x00 2...0 page Map 16 feature registers to one of the 8 feature pages 0x0 RW

Bosch Sensortec | BMI270 Datasheet 88 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.40 Register (0x30) FEATURES[16]

DESCRIPTION: Input registers for feature configuration. Output registers for feature results. RESET: 0x00 DEFINITION (Go to register map): Page 0 Address Bit Name Description Reset Access step_counter_output 0x30 SC_OUT_0_1 Describes lower word of step counter 0x0000 7...0 byte_0 Value of step counter byte 0 0x0 R 15...8 byte_1 Value of step counter byte 1 0x0 R 0x32 SC_OUT_2_3 Describes higher word of step counter 0x0000 7...0 byte_2 Value of step counter byte 2 0x0 R 15...8 byte_3 Value of step counter byte 3 0x0 R activity_output 0x34 ACT_OUT Describes activity output 0x0000 1...0 act_out Output value of the activity detection feature. Value after device initialization is 0b11 i.e. unknown activity Value Name Description 0x00 still User stationary 0x01 walking User walking 0x02 running User running 0x03 unknown Unknown state 0x0 R wrist_gesture_output 0x36 WR_GEST_OUT Describes wrist gesture output 0x0000 2...0 wr_gest_out Output value of the wrist gesture detection feature. Value after device initialization is 0b00 i.e. unknown gesture Value Name Description 0x00 unknown_gesture Unknown gesture 0x01 push_arm_down Push arms down gesture 0x02 pivot_up Pivot up gesture 0x03 wrist_shake_jiggle Wrist shake/jiggle gesture 0x04 flick_in Arm flick in gesture 0x05 flick_out Arm flick out gesture 0x0 R gyr_gain_status

Bosch Sensortec | BMI270 Datasheet 89 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x38 GYR_GAIN_STATUS Describes the saturation status for the gyroscope gain update and G_TRIGGER command status 0x0000 0 sat_x This bit will be 1 if the updated gain results to saturated value based on the ratio provided for x axis, otherwise it will be 0 0x0 R 1 sat_y This bit will be 1 if the updated gain results to saturated value based on the ratio provided for y axis, otherwise it will be 0 0x0 R 2 sat_z This bit will be 1 if the updated gain results to saturated value based on the ratio provided for z axis, otherwise it will be 0 0x0 R 5...3 g_trig_status Status of gyroscope trigger G_TRIGGER command. These bits are updated at the end of feature execution. Value Name Description 0x00 no_err Command is valid. Selected feature has been executed and output of feature has been updated. 0x01 precon_err Command is aborted. Pre- condition to start the feature was not completed. 0x02 dl_err Command is aborted. Unsuccessful download of 2kB configuration stream. 0x03 abort_err Command is aborted either by host via the block bit or due to motion detection. 0x0 R Reserved 0x3A Reserved Reserved 0x0000 15...0 Reserved Reserved 0x0 R gyr_postproc 0x3C GYR_CAS Register for gyroscope data post processing 0x0000 6...0 factor_zx Factor to further optimize the gyroscope performance 0x0 R Reserved 0x3E Reserved Reserved 0x0000

8 Reserved Reserved 0x0 R

9 Reserved Reserved 0x0 R

Bosch Sensortec | BMI270 Datasheet 90 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

10 Reserved Reserved 0x0 R

11 Reserved Reserved 0x0 R

12 Reserved Reserved 0x0 R

13 Reserved Reserved 0x0 R

14 Reserved Reserved 0x0 R

15 Reserved Reserved 0x0 R

Address Bit Name Description Reset Access general_settings 0x30 Reserved Reserved 0x0000 15...0 Reserved Reserved 0x0 R 0x32 G_TRIG_1 Configuration for features triggered by G_TRIGGER command. 0x0000 7...0 max_burst_len Maximum burst-write length in 16-bits words to download 2kB configuration stream of G_TRIGGER feature. Range is 0 to 255. E.g. value = 20 means that maximum burst-write length is set to 20 words or 40 bytes. 0x0 RW 8 select Select feature that should be executed Value Name Description 0x00 gyr_bist Gyroscope built-in self- test will be executed 0x01 crt CRT will be executed 0x0 RW 9 block Block feature with next G_TRIGGER command Value Name Description 0x00 unblock Do not block further G_TRIGGER commands 0x01 block With the next G_TRIGGER command, the ongoing selected feature will be aborted OR if a feature is not ongoing then the G_TRIGGER command will be ignored 0x0 RW 0x34 GEN_SET_1 Describes configuration of general

features

1...0 map_x_axis Map the x axis to desired axis Value Name Description 0x00 x_axis Map to x-axis 0x01 y_axis Map to y-axis 0x02 z_axis Map to z-axis 0x03 reserved Map to x-axis 0x0 RW

Bosch Sensortec | BMI270 Datasheet 91 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 2 map_x_axis_sign Map the x axis sign to the desired one. Value Name Description 0x00 not_invert Clear this bit to not invert the x axis 0x01 invert Set this bit to invert the x axis 0x0 RW 4...3 map_y_axis Map the y axis to desired axis Value Name Description 0x00 x_axis Map to x-axis 0x01 y_axis Map to y-axis 0x02 z_axis Map to z-axis 0x03 reserved Map to y-axis 0x1 RW 5 map_y_axis_sign Map the y axis sign to the desired one Value Name Description 0x00 not_invert Clear this bit to not invert the y axis 0x01 invert Set this bit to invert the y axis 0x0 RW 7...6 map_z_axis Map the z axis to desired axis Value Name Description 0x00 x_axis Map to x-axis 0x01 y_axis Map to y-axis 0x02 z_axis Map to z-axis 0x03 reserved Map to z-axis 0x2 RW 8 map_z_axis_sign Map the z axis sign to the desired one Value Name Description 0x00 not_invert Clear this bit to not invert the z axis 0x01 invert Set this bit to invert the z axis 0x0 RW 9 gyr_self_off Describes the self offset correction behavior Value Name Description 0x00 disable Disable self offset correction. Host should update the gyroscope offset register. 0x01 enable Enable self offset correction. Gyroscope offset register will be updated by the device. Host should not update the gyroscope offset registers. 0x0 RW 10 nvm_prog_prep Prepares the system for NVM programming 0x0 RW gyr_gain_update 0x36 GYR_GAIN_UPD_1 ωrx/ωmx for which the gain needs to be updated. 0x0000

Bosch Sensortec | BMI270 Datasheet 92 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 10...0 ratio_x gain update value for x-axis. Fixed point representation is Q(1,10) with range from 1±0.25. For example, value of 0.75 shall be represented in 11bits as 0x300 and 1.25 shall be represented in 11bits as 0x500 0x0 RW 0x38 GYR_GAIN_UPD_2 ωry/ωmy for which the gain needs to be updated. 0x0000 10...0 ratio_y gain update value for y-axis. Fixed point representation is Q(1,10) with range from 1±0.25. For example, value of 0.75 shall be represented in 11bits as 0x300 and 1.25 shall be represented in 11bits as 0x500 0x0 RW 0x3A GYR_GAIN_UPD_3 ωrz/ωmz for which the gain needs to be updated. 0x0000 10...0 ratio_z gain update value for z-axis. Fixed point representation is Q(1,10) with range from 1±0.25. For example, value of 0.75 shall be represented in 11bits as 0x300 and 1.25 shall be represented in 11bits as 0x500 0x0 RW 11 enable Enable the gyroscope gain update by writing a value 1 to it. Once the gain update is completed, the device will clear the bit. 0x0 RW any_motion 0x3C ANYMO_1 Any-motion detection general configuration flags - part 1 0xE005 12...0 duration Defines the number of consecutive data points for which the threshold condition must be respected, for interrupt assertion. It is expressed in 50 Hz samples (20 ms). Range is 0 to 163sec. Default value is 5=100ms. 0x5 RW 13 select_x Selects the feature on a per-axis basis 0x1 RW 14 select_y Selects the feature on a per-axis basis 0x1 RW 15 select_z Selects the feature on a per-axis basis 0x1 RW 0x3E ANYMO_2 Any-motion detection general configuration flags - part 2 0x38AA 10...0 threshold Slope threshold value for any-motion detection. Range is 0 to 1g. Default value is 0xAA = 83mg. 0xAA RW 14...11 out_conf Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x7 RW

Bosch Sensortec | BMI270 Datasheet 93 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x05 BIT_4 Output assigned to bit-4 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x08 BIT_7 Output assigned to bit-7 15 enable Enables the feature 0x0 RW Page 2 Address Bit Name Description Reset Access no_motion 0x30 NOMO_1 No-motion detection general configuration flags - part 1 0xE005 12...0 duration Defines the number of consecutive data points for which the threshold condition must be respected, for interrupt assertion. It is expressed in 50 Hz samples (20 ms). Range is 0 to 163sec. Default value is 5=100ms. 0x5 RW 13 select_x Selects the feature on a per-axis basis 0x1 RW 14 select_y Selects the feature on a per-axis basis 0x1 RW 15 select_z Selects the feature on a per-axis basis 0x1 RW 0x32 NOMO_2 No-motion detection general configuration flags - part 2 0x3090 10...0 threshold Slope threshold value for no-motion detection. Range is 0 to 1g. Default value is 0x90 = 70mg. 0x90 RW 14...11 out_conf Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x05 BIT_4 Output assigned to bit-4 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x6 RW

Bosch Sensortec | BMI270 Datasheet 94 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x08 BIT_7 Output assigned to bit-7 15 enable Enables the feature 0x0 RW sig_motion 0x34 SIGMO_1 Block size 0x00FA 15...0 block_size Defines the duration after which the significant motion interrupt is triggered. It is expressed in 50 Hz samples (20 ms). Default value is 0xFA=5sec. 0xFA RW 0x36 Reserved Reserved 0x0096 15...0 Reserved Reserved 0x96 RW 0x38 Reserved Reserved 0x094B 15...0 Reserved Reserved 0x94B RW 0x3A Reserved Reserved 0x0011 15...0 Reserved Reserved 0x11 RW 0x3C Reserved Reserved 0x0011 15...0 Reserved Reserved 0x11 RW 0x3E SIGMO_2 Significant motion setting 0x0002 0 enable Enables the feature 0x0 RW 4...1 out_conf Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x05 BIT_4 Output assigned to bit-4 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x08 BIT_7 Output assigned to bit-7 0x1 RW Page 3 Address Bit Name Description Reset Access step_counter_1 0x30 SC_1 Step Counter setting 0x012D 15...0 param_1 Step Counter param 1 0x12D RW 0x32 SC_2 Step Counter setting 0x7BD4 15...0 param_2 Step Counter param 2 0x7BD4 RW 0x34 SC_3 Step Counter setting 0x013B 15...0 param_3 Step Counter param 3 0x13B RW 0x36 SC_4 Step Counter setting 0x7ADB 15...0 param_4 Step Counter param 4 0x7ADB RW 0x38 SC_5 Step Counter setting 0x0004

Bosch Sensortec | BMI270 Datasheet 95 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 15...0 param_5 Step Counter param 5 0x4 RW 0x3A SC_6 Step Counter setting 0x7B3F 15...0 param_6 Step Counter param 6 0x7B3F RW 0x3C SC_7 Step Counter setting 0x6CCD 15...0 param_7 Step Counter param 7 0x6CCD RW 0x3E SC_8 Step Counter setting 0x04C3 15...0 param_8 Step Counter param 8 0x4C3 RW Page 4 Address Bit Name Description Reset Access step_counter_2 0x30 SC_9 Step Counter setting 0x0985 15...0 param_9 Step Counter param 9 0x985 RW 0x32 SC_10 Step Counter setting 0x04C3 15...0 param_10 Step Counter param 10 0x4C3 RW 0x34 SC_11 Step Counter setting 0xE6EC 15...0 param_11 Step Counter param 11 0xE6EC RW 0x36 SC_12 Step Counter setting 0x460C 15...0 param_12 Step Counter param 12 0x460C RW 0x38 SC_13 Step Counter setting 0x0001 15...0 param_13 Step Counter param 13 0x1 RW 0x3A SC_14 Step Counter setting 0x0027 15...0 param_14 Step Counter param 14 0x27 RW 0x3C SC_15 Step Counter setting 0x0019 15...0 param_15 Step Counter param 15 0x19 RW 0x3E SC_16 Step Counter setting 0x0096 15...0 param_16 Step Counter param 16 0x96 RW Page 5 Address Bit Name Description Reset Access step_counter_3 0x30 SC_17 Step Counter setting 0x00A0 15...0 param_17 Step Counter param 17 0xA0 RW 0x32 SC_18 Step Counter setting 0x0001 15...0 param_18 Step Counter param 18 0x1 RW 0x34 SC_19 Step Counter setting 0x000C 15...0 param_19 Step Counter param 19 0xC RW 0x36 SC_20 Step Counter setting 0x3CF0 15...0 param_20 Step Counter param 20 0x3CF0 RW 0x38 SC_21 Step Counter setting 0x0100 15...0 param_21 Step Counter param 21 0x100 RW 0x3A SC_22 Step Counter setting 0x0001 15...0 param_22 Step Counter param 22 0x1 RW

Bosch Sensortec | BMI270 Datasheet 96 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x3C SC_23 Step Counter setting 0x0003 15...0 param_23 Step Counter param 23 0x3 RW 0x3E SC_24 Step Counter setting 0x0001 15...0 param_24 Step Counter param 24 0x1 RW Page 6 Address Bit Name Description Reset Access step_counter_4 0x30 SC_25 Step Counter setting 0x000E 15...0 param_25 Step Counter param 25 0xE RW 0x32 SC_26 Step Counter and Step Detector Settings 0x0000 9...0 watermark_level Watermark level; the Step-counter will trigger output every time this number of steps are counted. Holds implicitly a 20x factor, so the range is 0 to 20460, with resolution of 20 steps. If 0, the output is disabled. 0x0 RW 10 reset_counter Step count value can be reset only when any one of features mentioned in this register is enabled. 0x0 RW 11 en_detector Enables the Step Detector. 0x0 RW 12 en_counter Enables the Step Counter. 0x0 RW 13 en_activity Enables the activity detection(Running, Walking, Stationary, Unknown) 0x0 RW 0x34 SC_27 Step Counter and Step Detector Settings 0x0032 3...0 out_conf_step_detector Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x05 BIT_4 Output assigned to bit-4 0x2 RW

Bosch Sensortec | BMI270 Datasheet 97 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x08 BIT_7 Output assigned to bit-7 7...4 out_conf_activity Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x05 BIT_4 Output assigned to bit-4 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x08 BIT_7 Output assigned to bit-7 0x3 RW wrist_gesture 0x36 WR_GEST_1 Wrist gesture configuration settings 0x0005 3...0 out_conf Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x5 RW

Bosch Sensortec | BMI270 Datasheet 98 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x05 BIT_4 Output assigned to bit-4 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x08 BIT_7 Output assigned to bit-7 4 wearable_arm Device in left (0) or right (1) arm. By default, the wearable device is assumed to be in left arm i.e. default value is 0. 0x0 RW 5 enable Enables the feature 0x0 RW 0x38 WR_GEST_2 Wrist gesture setting 0x06EE 15...0 min_flick_peak Sine of the minimum tilt angle in portrait down direction of the device when wrist is rolled away (roll-out) from user. The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 1448 to 1774. Default value is 1774. 0x6EE RW 0x3A WR_GEST_3 Wrist gesture setting 0x0004 15...0 min_flick_samples Value of minimum time difference between wrist roll-out and roll-in movement during flick gesture. Range is 3 to 5 samples at 50Hz (i.e. 0.06 to 0.1 seconds). Default value is 4 (i.e. 0.08 seconds). 0x4 RW 0x3C WR_GEST_4 Wrist gesture setting 0x00C8 15...0 max_duration Maximum time within which gesture movement has to be completed. Range is 150 to 250 samples at 50Hz (i.e. 3 to 5 seconds). Defualt value is 200 (i.e. 4 seconds). 0xC8 RW Reserved 0x3E Reserved Reserved 0x0000 15...0 Reserved Reserved 0x0 RW

Bosch Sensortec | BMI270 Datasheet 99 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Page 7 Address Bit Name Description Reset Access wrist_wear_wakeup 0x30 WR_WAKEUP_1 Wrist wear wakeup configuration settings 0x0004 3...0 out_conf Enable bits for enabling output into the register status bits and, if desired, onto the interrupt pin Value Name Description 0x00 disable Output of feature not assigned to any interrupt bits 0..7 of INT_STATUS_0 and INT1/2_MAP_FEAT 0x01 BIT_0 Output assigned to bit-0 0x02 BIT_1 Output assigned to bit-1 0x03 BIT_2 Output assigned to bit-2 0x04 BIT_3 Output assigned to bit-3 0x05 BIT_4 Output assigned to bit-4 0x06 BIT_5 Output assigned to bit-5 0x07 BIT_6 Output assigned to bit-6 0x08 BIT_7 Output assigned to bit-7 0x4 RW 4 enable Enables the feature 0x0 RW 0x32 WR_WAKEUP_2 Wrist wear wakeup setting 0x05A8 15...0 min_angle_focus Cosine of minimum expected attitude change of the device within 1 second time window when moving within focus position. The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1024 to 1774. Default is 1448. 0x5A8 RW 0x34 WR_WAKEUP_3 Wrist wear wakeup setting 0x06EE 15...0 min_angle_nonfocus Cosine of minimum expected attitude change of the device within 1 second time window when moving from non-focus to focus position. The parameter is scaled by 2048 i.e. 2048 * cos(angle). Range is 1448 to 1856. Default value is 1774. 0x6EE RW 0x36 WR_WAKEUP_4 Wrist wear wakeup setting 0x0400 15...0 max_tilt_lr Sine of the maximum allowed downward tilt angle in landscape right direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device). The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to 1024. Default value is 1024. 0x400 RW 0x38 WR_WAKEUP_5 Wrist wear wakeup setting 0x02BC 15...0 max_tilt_ll Sine of the maximum allowed downward tilt angle in landscape left direction of the 0x2BC RW

Bosch Sensortec | BMI270 Datasheet 100 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device). The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 700 to 1024. Default value is 700. 0x3A WR_WAKEUP_6 Wrist wear wakeup setting 0x00B3 15...0 max_tilt_pd Sine of the maximum allowed backward tilt angle in portrait down direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device). The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 0 to179. Default value is 179. 0xB3 RW 0x3C WR_WAKEUP_7 Wrist wear wakeup setting 0x0785 15...0 max_tilt_pu Sine of the maximum allowed forward tilt angle in portrait up direction of the device, when it is in focus position (i.e. user is able to comfortably look at the dial of wear device). The configuration parameter is scaled by 2048 i.e. 2048 * sin(angle). Range is 1774 to 1978. Default value is 1925. 0x785 RW Reserved 0x3E Reserved Reserved 0x0000 15...0 Reserved Reserved 0x0 RW

5.2.41 Register (0x40) ACC_CONF

DESCRIPTION: Sets the output data rate, the bandwidth, and the read mode of the acceleration sensor RESET: 0xA8 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x40 ACC_CONF 0xA8 3...0 acc_odr ODR in Hz. The output data rate is independent of the power mode setting for the sensor Value Name Description 0x00 reserved Reserved 0x01 odr_0p78 25/32 0x02 odr_1p5 25/16 0x03 odr_3p1 25/8 0x04 odr_6p25 25/4 0x05 odr_12p5 25/2 0x06 odr_25 25 0x8 RW

Bosch Sensortec | BMI270 Datasheet 101 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x07 odr_50 50 0x08 odr_100 100 0x09 odr_200 200 0x0a odr_400 400 0x0b odr_800 800 0x0c odr_1k6 1600 0x0d odr_3k2 Reserved 0x0e odr_6k4 Reserved 0x0f odr_12k8 Reserved 6...4 acc_bwp Bandwidth parameter determines filter configuration (acc_filt_perf=1) and averaging for undersampling mode (acc_filt_perf=0) Value Name Description 0x00 osr4_avg1 acc_filt_perf = 1 -> OSR4 mode; acc_filt_perf = 0 -> no averaging 0x01 osr2_avg2 acc_filt_perf = 1 -> OSR2 mode; acc_filt_perf = 0 -> average 2 samples 0x02 norm_avg4 acc_filt_perf = 1 -> normal mode; acc_filt_perf = 0 -> average 4 samples 0x03 cic_avg8 acc_filt_perf = 1 -> CIC mode; acc_filt_perf = 0 -> average 8 samples 0x04 res_avg16 acc_filt_perf = 1 -> Reserved; acc_filt_perf = 0 -> average 16 samples 0x05 res_avg32 acc_filt_perf = 1 -> Reserved; acc_filt_perf = 0 -> average 32 samples 0x06 res_avg64 acc_filt_perf = 1 -> Reserved; acc_filt_perf = 0 -> average 64 samples 0x07 res_avg128 acc_filt_perf = 1 -> Reserved; acc_filt_perf = 0 -> average 128 samples 0x2 RW 7 acc_filter_perf Select accelerometer filter performance mode: Value Name Description 0x00 ulp power optimized 0x01 hp performance opt. 0x1 RW

Bosch Sensortec | BMI270 Datasheet 102 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.42 Register (0x41) ACC_RANGE

DESCRIPTION: Selection of the Accelerometer g-range RESET: 0x02 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x41 ACC_RANGE 0x02 1...0 acc_range Accelerometer g-range Value Name Description 0x00 range_2g +/-2g 0x01 range_4g +/-4g 0x02 range_8g +/-8g 0x03 range_16g +/-16g 0x2 RW

5.2.43 Register (0x42) GYR_CONF

DESCRIPTION: Sets the output data rate and the bandwidth of the Gyroscope in the sensor RESET: 0xA9 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x42 GYR_CONF 0xA9 3...0 gyr_odr ODR in Hz Value Name Description 0x00 reserved Reserved 0x01 odr_0p78 Reserved 0x02 odr_1p5 Reserved 0x03 odr_3p1 Reserved 0x04 odr_6p25 Reserved 0x05 odr_12p5 Reserved 0x06 odr_25 25 0x07 odr_50 50 0x08 odr_100 100 0x09 odr_200 200 0x0a odr_400 400 0x0b odr_800 800 0x0c odr_1k6 1600 0x0d odr_3k2 3200 0x0e odr_6k4 Reserved 0x0f odr_12k8 Reserved 0x9 RW 5...4 gyr_bwp The Gyroscope bandwidth coefficient defines the 3 dB cutoff frequency of the low pass filter for the sensor data Value Name Description 0x00 osr4 OSR4 mode 0x01 osr2 OSR2 mode 0x2 RW

Bosch Sensortec | BMI270 Datasheet 103 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x02 norm normal mode 0x03 res reserved 6 gyr_noise_perf Select noise performance: Value Name Description 0x00 ulp power optimized 0x01 hp performance opt. 0x0 RW 7 gyr_filter_perf Select gyroscope filter performance mode: Value Name Description 0x00 ulp power optimized 0x01 hp performance opt. 0x1 RW

5.2.44 Register (0x43) GYR_RANGE

DESCRIPTION: Defines the Gyroscope angular rate measurement range RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x43 GYR_RANGE 0x00 2...0 gyr_range Full scale, Resolution: applies to filtered FIFO data and DATA registers. Value Name Description 0x00 range_2000 +/-2000dps, 16.4 LSB/dps 0x01 range_1000 +/-1000dps, 32.8 LSB/dps 0x02 range_500 +/-500dps, 65.6 LSB/dps 0x03 range_250 +/-250dps, 131.2 LSB/dps 0x04 range_125 +/-125dps, 262.4 LSB/dps 0x0 RW 3 ois_range Full scale, Resolution: applies to pre-filtered FIFO data and OIS data. Value Name Description 0x00 range_250 +/-250dps, 131.2 LSB/dps 0x01 range_2000 +/-2000dps, 16.4 LSB/dps 0x0 RW

5.2.45 Register (0x44) AUX_CONF

DESCRIPTION: Sets the output data rate of the Auxiliary sensor interface RESET: 0x46 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x44 AUX_CONF 0x46 3...0 aux_odr define the poll rate for the magnetormeter attached to the Auxiliary sensor interface. This is independent of the power mode setting for the sensor. The output data rate in Hz. In addition to setting the poll rate, it is required to configure the Auxiliary sensor properly using the AUX_IF_CONF register. Value Name Description 0x6 RW

Bosch Sensortec | BMI270 Datasheet 104 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 0x00 reserved Reserved 0x01 odr_0p78 25/32 0x02 odr_1p5 25/16 0x03 odr_3p1 25/8 0x04 odr_6p25 25/4 0x05 odr_12p5 25/2 0x06 odr_25 25 0x07 odr_50 50 0x08 odr_100 100 0x09 odr_200 200 0x0a odr_400 400 0x0b odr_800 800 0x0c odr_1k6 Reserved 0x0d odr_3k2 Reserved 0x0e odr_6k4 Reserved 0x0f odr_12k8 Reserved the offset is maximum, i.e. after readout a trigger is issued immediately. 0x4 RW

5.2.46 Register (0x45) FIFO_DOWNS

DESCRIPTION: Configure Gyroscope and Accelerometer downsampling rates for FIFO RESET: 0x88 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x45 FIFO_DOWNS 0x88 2...0 gyr_fifo_downs Downsampling for Gyroscope (2downs_gyro) 0x0 RW 3 gyr_fifo_filt_data selects filtered or unfiltered Gyroscope data for fifo Value Name Description 0x00 unfiltered Unfiltered data 0x01 filtered Filtered data 0x1 RW 6...4 acc_fifo_downs Downsampling for Accelerometer (2downs_accel) 0x0 RW 7 acc_fifo_filt_data selects filtered or unfiltered Accelerometer data for fifo Value Name Description 0x00 unfiltered Unfiltered data 0x01 filtered Filtered data 0x1 RW

Bosch Sensortec | BMI270 Datasheet 105 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.47 Register (0x46) FIFO_WTM_0

DESCRIPTION: FIFO Watermark level LSB RESET: 0x00 DEFINITION (Go to register map): Addres s Bit Name Description Rese t Acces s 0x46 FIFO_WTM_0 0x00 7... fifo_water_mark_7_ Trigger an interrupt when FIFO contains 56 bytes 0x0 RW

5.2.48 Register (0x47) FIFO_WTM_1

DESCRIPTION: FIFO Watermark level MSB and frame content configuration RESET: 0x02 DEFINITION (Go to register map): Addres s Bit Name Description Rese t Acces s 0x47 FIFO_WTM_1 0x02 4... fifo_water_mark_12_ Trigger an interrupt when FIFO contains 256 bytes 0x2 RW

5.2.49 Register (0x48) FIFO_CONFIG_0

DESCRIPTION: FIFO frame content configuration RESET: 0x02 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x48 FIFO_CONFIG_0 0x02 0 fifo_stop_on_full Stop writing samples into FIFO when FIFO is full. Value Name Description 0x00 disable do not stop writing to FIFO when full 0x01 enable Stop writing into FIFO when full. 0x0 RW 1 fifo_time_en Return sensortime frame after the last valid data frame. Value Name Description 0x00 disable do not return sensortime frame 0x01 enable return sensortime frame 0x1 RW

Bosch Sensortec | BMI270 Datasheet 106 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.50 Register (0x49) FIFO_CONFIG_1

DESCRIPTION: FIFO frame content configuration RESET: 0x10 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x49 FIFO_CONFIG_1 0x10 1...0 fifo_tag_int1_en FIFO interrupt 1 tag enable Value Name Description 0x00 int_edge enable tag on rising edge of int pin 0x01 int_level enable tag on level value of int pin 0x02 acc_sat enable tag on saturation of accelerometer data 0x03 gyr_sat enable tag on saturation of gyroscope data 0x0 RW 3...2 fifo_tag_int2_en FIFO interrupt 2 tag enable Value Name Description 0x00 int_edge enable tag on rising edge of int pin 0x01 int_level enable tag on level value of int pin 0x02 acc_sat enable tag on saturation of accelerometer data 0x03 gyr_sat enable tag on saturation of gyroscope data 0x0 RW 4 fifo_header_en FIFO frame header enable Value Name Description 0x00 disable no header is stored (output data rate of all enabled sensors need to be identical) 0x01 enable header is stored 0x1 RW 5 fifo_aux_en Store Auxiliary sensor data in FIFO (all 3 axes) Value Name Description 0x00 disable no Auxiliary sensor data is stored 0x01 enable Auxiliary sensor data is stored 0x0 RW 6 fifo_acc_en Store Accelerometer data in FIFO (all 3 axes) Value Name Description 0x00 disable no Accelerometer data is stored 0x01 enable Accelerometer data is stored 0x0 RW 7 fifo_gyr_en Store Gyroscope data in FIFO (all 3 axes) Value Name Description 0x00 disable no Gyroscope data is stored 0x01 enable Gyroscope data is stored 0x0 RW

Bosch Sensortec | BMI270 Datasheet 107 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.51 Register (0x4A) SATURATION

DESCRIPTION: Contains the information if one of the raw data samples used to generate current filtered data sample has been saturated (reached 0x8001 or 0x7FFF). The register is updated synchronous to the corresponding data registers in DATA_0..19. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x4A SATURATION 0x00 0 acc_x ACC X-axis raw data saturation flag. 0x0 R 1 acc_y ACC Y-axis raw data saturation flag. 0x0 R 2 acc_z ACC Z-axis raw data saturation flag. 0x0 R 3 gyr_x GYR X-axis raw data saturation flag. 0x0 R 4 gyr_y GYR Y-axis raw data saturation flag. 0x0 R 5 gyr_z GYR Z-axis raw data saturation flag. 0x0 R

5.2.52 Register (0x4B) AUX_DEV_ID

DESCRIPTION: Auxiliary interface device_id RESET: 0x20 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x4B AUX_DEV_ID 0x20 7...1 i2c_device_addr I2C device address of Auxiliary sensor 0x10 RW

5.2.53 Register (0x4C) AUX_IF_CONF

DESCRIPTION: Auxiliary interface configuration register RESET: 0x83 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x4C AUX_IF_CONF 0x83 1...0 aux_rd_burst Burst data length (1,2,6,8 byte) Value Name Description 0x00 BL1 Burst length 1 0x01 BL2 Burst length 2 0x02 BL6 Burst length 6 0x03 BL8 Burst length 8 0x3 RW 3...2 man_rd_burst Manual burst data length (1,2,6,8 byte) Value Name Description 0x00 BL1 Burst length 1 0x01 BL2 Burst length 2 0x02 BL6 Burst length 6 0x03 BL8 Burst length 8 0x0 RW 6 aux_fcu_write_en enables FCU write command on AUX IF for auxiliary sensors that need a trigger. 0x0 RW

Bosch Sensortec | BMI270 Datasheet 108 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 7 aux_manual_en switches auxiliary interface between automatic and manual mode. In manual mode all read and write operations on auxiliary interface must be triggered manually; in automatic mode (aux_manual_en = “0”) FCU triggers read and write operations periodically (as programmed by user). 0x1 RW

5.2.54 Register (0x4D) AUX_RD_ADDR

DESCRIPTION: Auxiliary interface read address RESET: 0x42 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x4D AUX_RD_ADDR 0x42 7...0 read_addr Address to read. In manual mode it triggers the read operation. 0x42 RW

5.2.55 Register (0x4E) AUX_WR_ADDR

DESCRIPTION: Auxiliary interface write address RESET: 0x4C DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x4E AUX_WR_ADDR 0x4C 7...0 write_addr Address to write. In manual mode it triggers the write operation. 0x4C RW

5.2.56 Register (0x4F) AUX_WR_DATA

DESCRIPTION: Auxiliary interface write data RESET: 0x02 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x4F AUX_WR_DATA 0x02 7...0 write_data Data to write 0x2 RW

Bosch Sensortec | BMI270 Datasheet 109 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.57 Register (0x52) ERR_REG_MSK

DESCRIPTION: Defines which error flag will trigger the error interrupt once enabled '1' - use to generate the error interrupt '0' - do not use to generate error interrupt RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x52 ERR_REG_MSK 0x00 0 fatal_err Use fatal error to generate the error interrupt. 0x0 RW 4...1 internal_err Use internal error to generate the error interrupt 0x0 RW 6 fifo_err Use fifo error to generate the error interrupt. 0x0 RW 7 aux_err Use aux interface error to generate the error interrupt. 0x0 RW

5.2.58 Register (0x53) INT1_IO_CTRL

DESCRIPTION: Configure the electrical behavior of the interrupt pin INT1 RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x53 INT1_IO_CTRL 0x00 1 lvl Configure output level of INT1 pin Value Name Description 0x00 active_low active low 0x01 active_high active high 0x0 RW 2 od Configure output behaviour of INT1 pin Value Name Description 0x00 push_pull push-pull 0x01 open_drain open drain 0x0 RW 3 output_en Output enable for INT1 pin Value Name Description 0x00 off Output disabled 0x01 on Output enabled 0x0 RW 4 input_en Input enable for INT1 pin Value Name Description 0x00 off Input disabled 0x01 on Input enabled 0x0 RW

Bosch Sensortec | BMI270 Datasheet 110 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.59 Register (0x54) INT2_IO_CTRL

DESCRIPTION: Configure the electrical behavior of the interrupt pin INT2 RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x54 INT2_IO_CTRL 0x00 1 lvl Configure level of INT2 pin Value Name Description 0x00 active_low active low 0x01 active_high active high 0x0 RW 2 od Configure output behaviour of INT2 pin Value Name Description 0x00 push_pull push-pull 0x01 open_drain open drain 0x0 RW 3 output_en Output enable for INT2 pin Value Name Description 0x00 off Output disabled 0x01 on Output enabled 0x0 RW 4 input_en Input enable for INT2 pin Value Name Description 0x00 off Input disabled 0x01 on Input enabled 0x0 RW

Bosch Sensortec | BMI270 Datasheet 111 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.60 Register (0x55) INT_LATCH

DESCRIPTION: Configure interrupt latch modes RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x55 INT_LATCH 0x00 0 int_latch Latched/non-latched interrupt modes Value Name Description 0x00 none non latched 0x01 permanent permanent latched 0x0 RW

5.2.61 Register (0x56) INT1_MAP_FEAT

DESCRIPTION: Interrupt/Feature mapping on INT1 RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x56 INT1_MAP_FEAT 0x00 0 sig_motion_out Sigmotion output. 0x0 RW 1 step_counter_out Step-counter watermark or Step-detector output 0x0 RW 2 activity_out Step activity output 0x0 RW 3 wrist_wear_wakeup_out Wrist wear wakeup output 0x0 RW 4 wrist_gesture_out Wrist gesture output 0x0 RW 5 no_motion_out No motion detection output 0x0 RW 6 any_motion_out Any motion detection output 0x0 RW 7 reserved Reserved 0x0 RW

5.2.62 Register (0x57) INT2_MAP_FEAT

DESCRIPTION: Interrupt/Feature mapping on INT2 RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x57 INT2_MAP_FEAT 0x00 0 sig_motion_out Sigmotion output. 0x0 RW 1 step_counter_out Step-counter watermark or Step-detector output 0x0 RW 2 activity_out Step activity output 0x0 RW 3 wrist_wear_wakeup_out Wrist wear wakeup output 0x0 RW 4 wrist_gesture_out Wrist gesture output 0x0 RW 5 no_motion_out No motion detection output 0x0 RW 6 any_motion_out Any motion detection output 0x0 RW 7 reserved Reserved 0x0 RW

Bosch Sensortec | BMI270 Datasheet 112 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.63 Register (0x58) INT_MAP_DATA

DESCRIPTION: Data Interrupt mapping for both INT pins RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x58 INT_MAP_DATA 0x00 0 ffull_int1 FIFO Full interrupt mapped to INT1 0x0 RW 1 fwm_int1 FIFO Watermark interrupt mapped to INT1 0x0 RW 2 drdy_int1 Data Ready interrupt mapped to INT1 0x0 RW 3 err_int1 Error interrupt mapped to INT1 0x0 RW 4 ffull_int2 FIFO Full interrupt mapped to INT2 0x0 RW 5 fwm_int2 FIFO Watermark interrupt mapped to INT2 0x0 RW 6 drdy_int2 Data Ready interrupt mapped to INT2 0x0 RW 7 err_int2 Error interrupt mapped to INT2 0x0 RW

5.2.64 Register (0x59) INIT_CTRL

DESCRIPTION: Start initialization RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x59 INIT_CTRL 0x00 7...0 init_ctrl Start initialization 0x0 RW

5.2.65 Register (0x5B) INIT_ADDR_0

DESCRIPTION: Base address of the initialization data. Increment by burst write length in bytes/2 after each burst write operation. Please ignore, if your host supports to load the initialization data in a single 8kB burst write operation. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x5B INIT_ADDR_0 0x00 3...0 base_0_3 Bits 0 to 3 of the base address for initialization data. 0x0 RW

Bosch Sensortec | BMI270 Datasheet 113 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.66 Register (0x5C) INIT_ADDR_1

DESCRIPTION: Base address of the initialization data. Increment by burst write length in bytes/2 after each burst write operation. Please ignore, if your host supports to load the initialization data in a single 8kB burst write operation. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x5C INIT_ADDR_1 0x00 7...0 base_11_4 Bits 4 to 11 of the base address for initialization data. 0x0 RW

5.2.67 Register (0x5E) INIT_DATA

DESCRIPTION: Initialization register RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x5E INIT_DATA 0x00 7...0 data Register for initialization data 0x0 RW

5.2.68 Register (0x5F) INTERNAL_ERROR

DESCRIPTION: Internal error flags. Value of all reserved bits should be ignored. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x5F INTERNAL_ERROR 0x00 1 int_err_1 Internal error flag - long processing time, processing halted 0x0 R 2 int_err_2 Internal error flag - fatal error, processing halted 0x0 R 4 feat_eng_disabled Feature engine has been disabled by host during sensor operation 0x0 R

Bosch Sensortec | BMI270 Datasheet 114 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.69 Register (0x68) AUX_IF_TRIM

DESCRIPTION: Auxiliary interface trim register (NVM backed) RESET: 0x01 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x68 AUX_IF_TRIM 0x01 1...0 asda_pupsel Pullup configuration for ASDA Value Name Description 0x00 pup_res_off Pullup off 0x01 pup_res_40k Pullup 40k 0x02 pup_res_10k Pullup 10k 0x03 pup_res_2k Pullup 2k 0x1 RW

5.2.70 Register (0x69) GYR_CRT_CONF

DESCRIPTION: Component Retrimming for Gyroscope RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x69 GYR_CRT_CONF 0x00 2 crt_running Indicates that CRT is currently running. If CRT completed, check CRT_STATUS register for the completion status Value Name Description 0x00 disabled disabled 0x01 enabled enabled 0x0 RW 3 rdy_for_dl pacemaker bit for downloading the CRT data Value Name Description 0x00 ongoing ongoing or not started 0x01 complete complete 0x0 R

5.2.71 Register (0x6A) NVM_CONF

DESCRIPTION: NVM Configuration RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x6A NVM_CONF 0x00 1 nvm_prog_en Enable NVM programming. Value Name Description 0x00 disable disable 0x01 enable enable 0x0 RW

Bosch Sensortec | BMI270 Datasheet 115 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.72 Register (0x6B) IF_CONF

DESCRIPTION: Serial interface settings RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x6B IF_CONF 0x00 0 spi3 Configure SPI Interface Mode for primary interface Value Name Description 0x00 spi4 SPI 4-wire mode 0x01 spi3 SPI 3-wire mode 0x0 RW 1 spi3_ois Configure SPI Interface Mode for OIS interface (if enabled) Value Name Description 0x00 spi4 SPI 4-wire mode 0x01 spi3 SPI 3-wire mode 0x0 RW 4 ois_en Interface configuration - OIS enable bit. It has lower priority than aux_en. 0x0 RW 5 aux_en Interface configuration - AUX enable bit. It has higher priority than ois_en. 0x0 RW

5.2.73 Register (0x6C) DRV

DESCRIPTION: Drive strength control register (NVM backed) RESET: 0xAA DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x6C DRV 0xAA 2...0 io_pad_drv1 Output pad drive strength setting for the SDO and SDx pins: 0b111 is approx. 10x stronger driver than 0b000.. 0x2 RW 3 io_pad_i2c_b1 Output pad drive strength setting to disable the additional increase in pull down strength of the SDx pin in I2C mode (in case of strong external pull-up resistor). 0x1 RW 6...4 io_pad_drv2 Output pad drive strength setting the OSDO, ASCx, and ASDx pins: 0b111 is approx. 10x stronger driver than 0b000. 0x2 RW 7 io_pad_i2c_b2 Output pad drive strength setting to disable the additional increase in pull down strength of the ASCx and ASDx pins in i2c mode (in case of strong external pull-up resistor). 0x1 RW

Bosch Sensortec | BMI270 Datasheet 116 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.74 Register (0x6D) ACC_SELF_TEST

DESCRIPTION: Settings for the accelerometer self-test configuration and trigger RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x6D ACC_SELF_TEST 0x00 0 acc_self_test_en Enable accelerometer self-test Value Name Description 0x00 disabled disabled 0x01 enabled enabled 0x0 RW 2 acc_self_test_sign select sign of self-test excitation as Value Name Description 0x00 negative negative 0x01 positive positive 0x0 RW 3 acc_self_test_amp select amplitude of the selftest deflection: Value Name Description 0x00 low low 0x01 high high 0x0 RW

5.2.75 Register (0x6E) GYR_SELF_TEST_AXES

DESCRIPTION: Settings for the gyroscope AXES self-test configuration and trigger RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x6E GYR_SELF_TEST_AXES 0x00 0 gyr_st_axes_done STATUS: functional test of detection channels finished. 0x0 R 1 gyr_axis_x_ok status of gyro X-axis self test 0x0 R 2 gyr_axis_y_ok status of gyro Y-axis self test 0x0 R 3 gyr_axis_z_ok status of gyro Z-axis self test 0x0 R

Bosch Sensortec | BMI270 Datasheet 117 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.76 Register (0x70) NV_CONF

DESCRIPTION: NVM backed configuration bits. RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x70 NV_CONF 0x00 0 spi_en disable the I2C and enable SPI for the primary interface, when it is in autoconfig mode Value Name Description 0x00 disabled I2C enabled 0x01 enabled I2C disabled 0x0 RW 1 i2c_wdt_sel Select timer period for I2C Watchdog Value Name Description 0x00 short I2C watchdog timeout after 1.25 ms 0x01 long I2C watchdog timeout after 40 ms 0x0 RW 2 i2c_wdt_en I2C Watchdog at the SDA pin in I2C interface mode Value Name Description 0x00 Disable Disable I2C watchdog 0x01 Enable Enable I2C watchdog 0x0 RW 3 acc_off_en Add the offset defined in the off_acc_[xyz] OFFSET register to filtered and unfiltered Accelerometer data Value Name Description 0x00 disabled Disabled 0x01 enabled Enabled 0x0 RW

5.2.77 Register (0x71) OFFSET_0

DESCRIPTION: Offset compensation for Accelerometer X-axis (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x71 OFFSET_0 0x00 7...0 off_acc_x Accelerometer offset compensation (X-axis). 0x0 RW

5.2.78 Register (0x72) OFFSET_1

DESCRIPTION: Offset compensation for Accelerometer Y-axis (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x72 OFFSET_1 0x00 7...0 off_acc_y Accelerometer offset compensation (Y-axis). 0x0 RW

Bosch Sensortec | BMI270 Datasheet 118 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.79 Register (0x73) OFFSET_2

DESCRIPTION: Offset compensation for Accelerometer Z-axis (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x73 OFFSET_2 0x00 7...0 off_acc_z Accelerometer offset compensation (Z-axis). 0x0 RW

5.2.80 Register (0x74) OFFSET_3

DESCRIPTION: Offset compensation for Gyroscope X-axis (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x74 OFFSET_3 0x00 7...0 gyr_usr_off_x_7_0 Gyroscope offset compensation (X-axis). 0x0 RW

5.2.81 Register (0x75) OFFSET_4

DESCRIPTION: Offset compensation for Gyroscope Y-axis (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x75 OFFSET_4 0x00 7...0 gyr_usr_off_y_7_0 Gyroscope offset compensation (Y-axis). 0x0 RW

5.2.82 Register (0x76) OFFSET_5

DESCRIPTION: Offset compensation for Gyroscope Z-axis (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x76 OFFSET_5 0x00 7...0 gyr_usr_off_z_7_0 Gyroscope offset compensation (Z-axis). 0x0 RW

Bosch Sensortec | BMI270 Datasheet 119 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.83 Register (0x77) OFFSET_6

DESCRIPTION: Offset compensation (MSBs gyroscope, enables) (NVM backed) RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x77 OFFSET_6 0x00 1...0 gyr_usr_off_x_9_8 Gyroscope offset compensation (X-axis). 0x0 RW 3...2 gyr_usr_off_y_9_8 Gyroscope offset compensation (Y-axis). 0x0 RW 5...4 gyr_usr_off_z_9_8 Gyroscope offset compensation (Z-axis). 0x0 RW 6 gyr_off_en Add the offset defined in the gyr_usr_off_[xyz] OFFSET register to filtered and unfiltered Gyroscope data Value Name Description 0x00 disabled Disabled 0x01 enabled Enabled 0x0 RW 7 gyr_gain_en Compensate the gain as described in section "Sensitivity Error Compensation". Value Name Description 0x00 disabled Disabled 0x01 enabled Enabled 0x0 RW

5.2.84 Register (0x7C) PWR_CONF

DESCRIPTION: Power mode configuration register RESET: 0x03 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x7C PWR_CONF 0x03 0 adv_power_save Advanced power save disabled. Value Name Description 0x00 aps_off Advanced power save disabled. 0x01 aps_on Advanced power mode enabled. 0x1 RW 1 fifo_self_wake_up FIFO read disabled in low power mode Value Name Description 0x00 fsw_off FIFO read disabled in low power mode 0x01 fsw_on FIFO read enabled in low power mode after FIFO interrupt is fired 0x1 RW 2 fup_en Fast power up enable Value Name Description 0x00 fup_off Fast power up disabled 0x01 fup_on Fast power up enabled 0x0 RW

Bosch Sensortec | BMI270 Datasheet 120 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

5.2.85 Register (0x7D) PWR_CTRL

DESCRIPTION: Power mode control register RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x7D PWR_CTRL 0x00 0 aux_en Value Name Description 0x00 aux_off Disables the Auxiliary sensor. 0x01 aux_on Enables the Auxiliary sensor. 0x0 RW 1 gyr_en Value Name Description 0x00 gyr_off Disables the Gyroscope. 0x01 gyr_on Enables the Gyroscope. 0x0 RW 2 acc_en Value Name Description 0x00 acc_off Disables the Accelerometer. 0x01 acc_on Enables the Accelerometer. 0x0 RW 3 temp_en Value Name Description 0x00 temp_off Disables the Temperature sensor. 0x01 temp_on Enables the Temperature sensor. 0x0 RW

5.2.86 Register (0x7E) CMD

DESCRIPTION: Command Register RESET: 0x00 DEFINITION (Go to register map): Address Bit Name Description Reset Access 0x7E CMD 0x00 7...0 cmd Available commands (Note: Register will always return 0x00 as read result): Value Name Description 0x02 g_trigger Trigger special gyro operations. 0x03 usr_gain Applies new gyro gain value. 0xa0 nvm_prog Writes the NVM backed registers into NVM 0xb0 fifo_flush Clears FIFO content 0xb6 softreset Triggers a reset, all user configuration settings are overwritten with their default state 0x0 W

Bosch Sensortec | BMI270 Datasheet 121 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6 Digital Interfaces

6.1 Interfaces

Beside the standard primary interface (I2C and SPI configurable), where sensor acts as a slave to the application processor the IMU device supports a secondary interface. The secondary interface can be configured as either auxiliary interface (I2C master) or OIS interface (SPI slave). See picture below. Both secondary configurations work independent of the primary interface configuration, i.e. I2C or SPI between the device and application processor. If the secondary interface configured as auxiliary interface, the device can be connected to an exte rnal sensor (e.g. a magnetometer) in order to build a 9 -DoF solution. Then the device will act as a master to the external sensor, reading the sensor data automatically and providing it to the application processor via the primary interface. Alternatively, the secondary interface can be used as OIS interface to connect to an external OIS control unit. The OIS control unit acts as a master and device as slave. Figure 9: Digital Interfaces AP BMI260 BMM150 I2C / SPI AUX Interface I2C

9 DoF

6 DoF IMU + OIS

Bosch Sensortec | BMI270 Datasheet 122 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6.2 Primary Interface

By default, the device operates in I2C mode. The device interface can also be configured to operate in a SPI 4 -wire configuration. It can also be re-configured by software to work in 3-wire mode instead of 4-wire mode. All three possible digital interfaces share partly the same pins. The mapping for the primary interface of device is given in the following table: Table 17: Mapping for primary interface Pin# Name I/O Type Description Connect to Primary Interface in SPI4W in SPI3W in I2C

1 SDO Digital I/O SDO Serial data output in SPI 4W

I2C Address bit-0 select in I²C mode SDO DNC GND for default I2C addr.

4 INT1 Digital I/O* Interrupt pin 1 INT1 INT1 INT1

9 INT2 Digital I/O* Interrupt pin 2 INT2 INT2 INT2

12 CSB Digital in Chip select for SPI mode CSB CSB VDDIO**

13 SCx Digital in SCK for SPI serial clock

SCL for I²C serial clock SCK SCK SCL

14 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 * INT1 and/or INT2 can also be configured as an input in case the external data synchronization in FIFO is used. If INT1 and/or INT2 are not used, please do not connect them (DNC). ** DNC is also possible due to an internal pull-up, as long as the voltage never drops below VIH. The following table shows the electrical specifications of the interface pins: Table 18: Electrical specifications of the interface pins Parameter Symbol Condition Min Typ Max Units Pull-up Resistance, CSB pin Rup Internal Pull -up Resistance to VDDIO 75 100 140 k Input Capacitance Cin 5 pF I²C Bus Load Capacitance (max. drive capability) CI2C_Load 400 pF

Bosch Sensortec | BMI270 Datasheet 123 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6.3 Primary Interface Digital Protocol Selection

The protocol is automatically selected based on the chip select CSB pin behavior after power-up. After reset / power-up, device’s primary interface is in I2C mode. If CSB is connected to VDDIO during power -up and not changed, the primary interface works in I2C mode. For using I2C, it is recommended to hard -wire the CSB line to VDDIO. Since power-on-reset is only executed when, both VDD and VDDIO are established, there is no risk of incorrect protocol detection due to power-up sequence. If CSB sees a rising edge after power -up, the device interface switches to SPI after 200 µs until a reset or the next power-up occurs. Therefore, a CSB rising edge is needed before starting the SPI communication. Hence, it is recommended to perform a SPI single read of register CHIP_ID (the obtained value will be invalid) before the actual communication start, in order to use the SPI interface. If toggling of the CSB bit is not possible without data communicati on, there is an addition the spi_en bit in register NV_CONF, which can be used to permanently set the primary interface to SPI without the need to toggle the CSB pin at every power-up or reset.

6.4 Primary Interface SPI

The timing specification for SPI of the device is given in the following table: SPI timing, valid at VDDIO ≥ 1.62V Table 19: Timing specifications for SPI Parameter Symbol Condition Min Max Units Clock Frequency fSPI Max. Load on SDI or SDO = 30pF, VDDIO ≥ 1.62 V

10 MHz

VDDIO < 1.62V 7 MHz SCK Low Pulse tSCKL VDDIO ≥1.62V 45 ns SCK High Pulse tSCKH VDDIO≥1.62V 45 ns SCK Low Pulse tSCKL VDDIO<1.62V 66 ns SCK High Pulse tSCKH VDDIO<1.62V 66 ns SDI Setup Time tSDI_setup 20 ns SDI Hold Time tSDI_hold 20 ns SDO Output Delay tSDO_OD Load = 30pF, VDDIO ≥ 1.62V 30 ns CSB Setup Time tCSB_setup 40 ns CSB Hold Time tCSB_hold 40 ns Idle time after read access in any mode tIDLE_rd 2 µs Idle time after write access in normal mode or fast startup mode tIDLE_wr_act 2 µs Idle time after a write access in suspend mode, low-power mode tIDLE_wacc_sum 450 µs

Bosch Sensortec | BMI270 Datasheet 124 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 The following figure shows the definition of the SPI timings: Figure 10: SPI timing diagram The SPI interface of the device is compatible with two modes, ´00´ [CPOL = ´0´ and CPHA = ´0´] and ´11´ [CPOL = ´1´ and CPHA = ´1´]. The automatic selection between ´00´ and ´11´ is controlled based on the value of SCK after a falling edge of CSB. Two configurations of the SPI interface are supported by device: 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 IF_CONF.spi3 = 0b1. Pin SDX 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. device also supports multiple-byte read and write operations. tSDI_hold tSCKH tCSB_holdtCSB_setup tSDI_setup tSCKL tSDO_OD CSB SCK SDI SDO

Bosch Sensortec | BMI270 Datasheet 126 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 CSB SCX SDX SDO AD6 AD5 AD4 AD3 AD2 AD1 AD0R/W XX ZX X 7 6 5 3 2 1 0 DO6 DO5 DO4 DO3 DO2 DO1 DO0DO7 R/W + register address Dummy Dummy Read Datalogical Figure 13: 4-wire basic SPI read sequence (mode ´00´) The data bits are used as follows: R/W: Read/Write bit. When 0, the data SDI is written into the chip. When 1, the data SDO from the chip is read. AD6-AD0: Register address DI7-DI0: When in write mode, these are the data SDI, which will be written into the address. DO7-DO0: 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. Please note that the first byte received from the device via the SDO line corresponds to a dummy byte and the 2nd byte corresponds to the value read out of the specified register address. The successive bytes read out correspond to values of incremented register addresses. That means, for a multiple read operation of n bytes, n+1 bytes have to be read, the first has to be dropped and the successive bytes must be interpreted.

Bosch Sensortec | BMI270 Datasheet 128 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6.5 Primary Interface I²C

The I²C bus uses SCX (as SCL for serial clock) and SDX (as SDA for 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 default I²C address of the device is 0b1101000 (0x68). It is used if the SDO pin is pulled to ´GND´. The alternative address 0b1101001 (0x69) is selected by pulling the SDO pin to ´VDDIO´. The I²C interface of device is compatible with the I²C Specification UM10204 Rev. 03 (19 June 2007), available at http://www.nxp.com. The device supports I²C standard mode (100kHz ), fast mode (400kHz) and fast mode plus (100kHz), fast mode (400kHz) and fast mode plus (1000kHz). Only 7-bit address mode is supported. The device supports fast mode plus I²C mode that allows using clock frequencies up to 1 MHz. In this mode all timings of the fast mode apply and it additionally supports clock frequencies up to 1MHz. The timing specification for I²C of the device is given in the following table: Table 20: Timing specifications for I²C of the device PARAMETER SYMBOL CONDITION MIN MAX UNITS Clock Frequency fSCL 400 (FM) 1000 (FM+) kHz SCL Low Period tLOW 1.3 (FM) 0.5 (FM+) µs SCL High Period tHIGH 0.6 (FM) 0.26 (FM+) SDA Setup Time tSUDAT 0.1 (FM) 0.05 (FM+) SDA Hold Time tHDDAT 0.0 Setup Time for a repeated Start Condition tSUSTA 0.6 (FM) 0.26 (FM+) Hold Time for a Start Condition tHDSTA 0.6 (FM) 0.26 (FM+) Setup Time for a Stop Condition tSUSTO 0.6 (FM) 0.26 (FM+) Time before a new Transmission can start tBUF low power mode 400 normal mode 1.3 (FM) 0.5 (FM+) Idle time after write accesses in normal mode, fast startup mode tIDLE_wacc_nm Idle time after write accesses in suspend mode, low-power mode tIDLE_wacc_sum 450

Bosch Sensortec | BMI270 Datasheet 129 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 The figure below shows the definition of the I²C timings given in the above table: Figure 16: 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). On ce 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. ACKS: 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 SCL toggling from ´VDDIO´ to ´GND´) is not supported. If such a combination occurs, the STOP is not recognized by the device. tHDDAT tf tBUF SDA SCL SDA tLOW tHDSTA tr tSUSTA tHIGH tSUDAT tSUSTO

Bosch Sensortec | BMI270 Datasheet 130 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6.5.1 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 (ACKS = 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 R/W ACK ACK ACK Stop 1 1 0 1 0 0 0 0 X 1 0 0 0 0 0 1 0 0 0 0 0 0 0 1 Master -> Slave Slave -> Master Slave Adress Register data (0x01) P Register address (0x41) S 0 0 0 I²C write Multi-byte writes are supported without restriction on normal registers with auto-increment as well as on special registers with address trap.

6.5.2 I²C read access

I²C read access 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 (S). The I²C wr ite 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 (ACKM = 0) to enable further data transfer. A NACKM (ACKM = 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 since 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.

Bosch Sensortec | BMI270 Datasheet 131 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Start R/W ACK ACK 1 1 0 1 0 0 0 0 X 0 0 1 0 0 1 0 Repeat Start R/W ACK ACK ACK 1 1 0 1 0 0 0 1 X X X X X X X X X X X X X X X X … ACK ACK Master -> Slave Slave -> Master … X X X X X X X X X X X X X X X X … ACK NACK Stop … X X X X X X X X X X X X X X X X P Data byte Data byte Register data - address 0x16 Register data - address 0x17 0 0 0 1 Data byte Data byte Register address (0x12) Register data - address 0x13 Data byte Data byte Register data - address 0x12 Register data - address 0x14 Register data - address 0x15 S 00 Slave I2C ID Sr 0 0 Slave I2C ID 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 device. Whenever the sensor device starts to drive the SDA pin of the primary interface low, the timer is started. If the timer expires, the serial interface logic of device is reset and the transaction is aborted. This allows the host to restart a new operation or to initiate a soft- reset of device, for a full recovery. Please ensure that the watchdog is not triggered unintentionally by running with a I2C clock frequency. This could trigger the watchdog, if a low SDA line for the watchdog timer expiration period is a valid communication (e.g. for NV_CONF.i2c_wdt_sel=0b0 the clock frequency should be greater than 100 kHz to avoid triggering the watchdog unintentionally). The activity and the timer period of the WDT can be configured through the bits NV_CONF.i2c_wdt_en and NV_CONF.i2c_wdt_sel. SPI and I²C Access Restrictions In order to allow for the correct internal synchronization of data written to the device, certain access restrictions apply for consecutive write accesses or a write/read sequence through the SPI as well as I 2C interface. The required waiting period depends on whether the device is operating in normal mode or other modes. As illustrated in the figure below, an interface idle time of at least 2 µs is required following a write operation when the device operates in normal mode. In suspend mode an interface idle time of at least 450 µs is required. Post-Write Access Timing Constraints X-after-Write Register Update Period (> 2us / 450us) Write-Operation X-Operation

Bosch Sensortec | BMI270 Datasheet 132 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6.6 Secondary Interface

The secondary interface can be used in either of the following two configurations:  Auxiliary interface (I2C master) for connecting an external sensor: In this case, the secondary interface is used as a two-wire I2C interface (ASDX and ASCX pins) where an external sensor like a magnetometer can be connected as a slave to the device. Typical application is connecting a Bosch Sensortec geomagnetic sensor like BMM150.  OIS interface (SPI slave) for connecting to OIS control unit In this case, the secondary interface is used as an SPI interface where an external controller can be connected as a master to the device. External controller can be an OIS control unit. The mapping of the device pins for secondary interface usage is given in following table: Table 21: Mapping of the device pins for secondary interface Pin# Name I/O Type Description Connect to Secondary Interface OIS SPI 4W OIS SPI 3W AUXILIARY I2C

2 ASDX Digital I/O Aux interface / OIS interface SDI SDA SDA

3 ASCX Digital I/O Aux interface / OIS interface SCK SCK SCL

10 OCSB Digital in OIS interface CSB CSB DNC

11 OSDO Digital out OIS interface SDO DNC DNC

6.6.1 Auxiliary Interface

The device allows attaching an external sensor (e.g. magnetometer) to the secondary interface. The connection diagrams for the auxiliary interface are depicted in the section 7.3. The timings of the secondary I2C interface follow the I2C fast-mode plus (fm+) specification, see section 6.5. For operating AUX I/F in I2C fast-mode (fm), please contact your regional Bosch Sensortec sales representative. The device acts as a master of the secondary interface, controls the data acquisition of the external sensor (slave of the secondary interface) and presents the data to the application processor (AP) in the user registers of the device through the primary interface. No external pull -up resistors need to be connected, since an internal pull -up register can be configured through AUX_IF_TRIM.asda_pupsel. No additional I2C master or slave devices can be attached to the magnetometer interfaces. The device autonomously reads out the sensor data from the external sensor without intervention of the application processor and stores the data in its data registers (per default) and FIFO (see Register FIFO_CONFIG_1.fifo_aux_en). The initial setup of the external sensor after power-on is done through indirect addressing in the device. For more information about the usage of auxiliary interface see Section 4.10.

Bosch Sensortec | BMI270 Datasheet 133 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

6.6.2 OIS Interface

The device can support optical image stabilization (OIS) applications with the secondary interface (SPI only). The OIS controller has direct access to pre-filtered gyroscope and accelerometer data with minimum latency. Pre-filter gyroscope data is available at ODR of 6.4kHz and accelerometer data with ODR 1.6kHz. OIS SPI interface supports 3-wire and 4- wire modes. The timing of OIS SPI interface is identical to the primary SPI interface described in section 6.4 For more information about the usage of the OIS data see Section 4.11.

Bosch Sensortec | BMI270 Datasheet 134 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7 Pin-out and Connection Diagram

7.1 Pin-out

(Pads not visible!) 8 (VDD) 9 (INT2) 10 (OCSB) 11 (OSDO)1 (SDO) 4 (INT1) 3 (ASCx) 2 (ASDx) 12 (CSB) 14 (SDX) 13 (SCX) 5 (VDDIO) 6 (GNDIO) 7 (GND) Pin-out top view Bottom View (Pads visible!) Pin1 marker 8 (VDD) 9 (INT2) 10 (OCSB) 11 (OSDO) 12 (CSB) 14 (SDX) 13 (SCX) 5 (VDDIO) 6 (GNDIO) 7 (GND) 1 (SDO) 4 (INT1) 3 (ASCX) 2 (ASDX) Pin-out bottom view

Bosch Sensortec | BMI270 Datasheet 135 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Table 22: Pin-out and pin connections Pin# Name I/O Type Interface Description Connect to in SPI4W In SPI3W in I²C

1 SDO Digital

Primary SDO Serial data output in SPI 4W I2C Address bit-0 select in I2C mode SDO DNC GND for default I2C address

2 ASDx Digital

Secondary Aux interface / OIS interface** VDDIO or DNC or Aux SDA or OIS SDI VDDIO or DNC or Aux SDA or OIS SDI VDDIO or DNC or Aux SDA or OIS SDI

3 ASCx Digital

Secondary Aux interface / OIS interface** VDDIO or DNC or Aux SCL or OIS SCK VDDIO or DNC or Aux SCL or OIS SCK VDDIO or DNC or Aux SCL or OIS SCK

4 INT1 Digital

Interrupt pin 1* INT1 INT1 INT1

5 VDDIO Supply - Digital I/O supply voltage

(1.2 … 3.6V) VDDIO VDDIO VDDIO

6 GNDIO Ground - Ground for I/O GNDIO GNDIO GNDIO

7 GND Ground - Ground for digital & analog GND GND GND

8 VDD Supply - Power supply analog &

digital domain (1.71V – 3.6V) VDD VDD VDD

9 INT2 Digital

Interrupt pin 2 * INT2 INT2 INT2

10 OCSB Digital in Secondary OIS interface DNC*** or

DNC* or OIS CSB DNC* or OIS CSB

11 OSDO Digital

Secondary OIS interface DNC* or OIS SDO DNC* or OIS SDO DNC*** or OIS SDO

12 CSB Digital in Primary Chip select for SPI mode CSB CSB VDDIO****

13 SCx Digital in Primary SCK for SPI serial clock

SCL for I²C serial clock SCK SCK SCL

14 SDx Digital

Primary SDA serial data I/O in I2C SDI serial data input in SPI SDA serial data I/O in SPI SDI SDIO SDA *) If INT1 and/or INT2 are not used, please do not connect them (DNC). INT1 and/or INT2 can also be configured as input in ca se the external data synchronization of FIFO is used. ) If secondary interface is unused, ASDx and ASCx can be connected to VDDIO or left unconnected. Do not connect to GND. If configured as AUX I/F to connect and I2C slave sensor device, ASCx operates in push/pull -mode, ASDA operates in open -drain- mode. The internal pull-up resistor of the device is configured in Register AUX_IF_TRIM.asda_pupsel. *) Can be tied to GND only if register IF_CONF.ois_en = 0 ****) DNC is not recommended, but possible, if the system design ensures that the voltage never drops below VIH (internal pul l-up available).

Bosch Sensortec | BMI270 Datasheet 136 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7.2 Connection Diagrams without Secondary Interface

It is recommended to use 100nF decoupling capacitors at pin 5 (VDDIO) and pin 8 (VDD).

7.2.1 Primary: 3-wire SPI Secondary: None

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCK SDA INT1 INT2 CSB

7.2.2 Primary: 4-wire SPI Secondary: None

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCK SDI / MOSI SDO / MISO INT1 INT2 CSB

Bosch Sensortec | BMI270 Datasheet 137 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7.2.3 Primary: I2C Secondary: None

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCL SDA SA0 INT1 INT2 R R Here SA0 = I2C slave address bit-0 select

Bosch Sensortec | BMI270 Datasheet 138 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7.3 Connection Diagrams with I2C Auxiliary Interface

It is recommended to use 100nF decoupling capacitors at pin 5 (VDDIO) and pin 8 (VDD). 7.3.1 Primary: 3-wire SPI Secondary: Auxiliary interface I2C (e.g. BMM150 sensor) VDD INT2 OCSB OSDO ASDx ASCx INT1 SDO VDDIO GNDIO GND CSB SDX SCX Top View (Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF CSB SCK SDA INT1 INT2 SCL SDA to BMM 7.3.2 Primary: 4-wire SPI Secondary: Auxiliary interface I2C (e.g. BMM150 sensor) VDD INT2 OCSB OSDO ASDx ASCx INT1 SDO VDDIO GNDIO GND CSB SDX SCX Top View (Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF CSB SCK SDI / MOSI SDO / MISO INT1 INT2 SCL SDA to BMM

Bosch Sensortec | BMI270 Datasheet 139 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 7.3.3 Primary: I2C Secondary: Auxiliary interface I2C (e.g. BMM150 sensor) SCL SDA to BMM VDD INT2 OCSB OSDO ASDx ASCx INT1 SDO VDDIO GNDIO GND CSB SDX SCX Top View (Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCL SDA SA0 INT1 INT2 RR

Bosch Sensortec | BMI270 Datasheet 140 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7.4 Connection Diagrams with OIS Interface

It is recommended to use 100nF decoupling capacitors at pin 5 (VDDIO) and pin 8 (VDD).

7.4.1 Primary: 3-wire SPI Secondary: 4-wire SPI for OIS interface

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCK SDA INT1 INT2 CSB OIS MOSI OIS SCK OIS Interface OIS MISO OIS CSB OIS Interface

7.4.2 Primary: 3-wire SPI Secondary: 3-wire SPI for OIS interface

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCK SDA INT1 INT2 CSB OIS SDA (Data I/O) OIS SCK OIS Interface OIS CSB OIS Interface

Bosch Sensortec | BMI270 Datasheet 141 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7.4.3 Primary: 4-wire SPI Secondary: 4-wire SPI for OIS interface

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCK MOSI MISO INT1 INT2 CSB OIS MISO OIS MOSI OIS SCK OIS Interface OIS CSB OIS Interface

7.4.4 Primary: 4-wire SPI Secondary: 3-wire SPI for OIS interface

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCK MOSI MISO INT1 INT2 CSB OIS SDA (Data I/O) OIS SCK OIS Interface OIS CSB OIS Interface

Bosch Sensortec | BMI270 Datasheet 142 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

7.4.5 Primary: I2C Secondary: 4-wire SPI for OIS interface

(Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCL SDA SA0 INT1 INT2 RR OIS Interface

7.4.6 Primary: I2C Secondary: 3-wire SPI for OIS interface

(Data I/O) OIS SCK VDD INT2 OCSB OSDO ASDx ASCx INT1 SDO VDDIO GNDIO GND CSB SDX SCX Top View (Pads not visible!) 7 8 141 VDDVDDIO 100nF 100nF SCL SDA SA0 INT1 INT2 RR OIS Interface OIS CSB OIS Interface

Bosch Sensortec | BMI270 Datasheet 143 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

8 Package

8.1 Package outline dimensions

Bosch Sensortec | BMI270 Datasheet 144 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

8.2 Sensing axis orientation

If the sensor is accelerated and/or rotated in the indicated directions, the corresponding channels of the device will deliver a positive acceleration and/or yaw rate signal (dynamic acceleration). If the sensor is at rest without any rotation and the force of gravity is acting contrary to the indicated directions, the output of the corresponding acceleration channel will be positive and the corresponding gyroscope channel will be “zero” (static acceleration). Example: If the sensor is at rest or at unifor m motion in a gravity field according to the figure given below, the output signals are:  ± 0g for the X ACC channel and ± 0°/sec for the ΩX GYR channel  ± 0g for the Y ACC channel and ± 0°/sec for the ΩY GYR channel  + 1g for the Z ACC channel and ± 0°/sec for the ΩZ GYR channel Definition of sensing axes orientation 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 ±4g range setting, a 16 bit resolution, and a top down gravity vector as shown above. Sensor Orientation (gravity vector ↓) Output Signal X 0g / 0 LSB 1g / 8192 LSB 0g / 0 LSB -1g / -8192 LSB 0g / 0 LSB 0g / 0 LSB Output Signal Y -1g / -8192 LSB 0g / 0 LSB 1g / 8192 LSB 0g / 0 LSB 0g / 0 LSB 0g / 0 LSB Output Signal Z 0g / 0 LSB 0g / 0 LSB 0g / 0 LSB 0g / 0 LSB 1g / 8192 LSB -1g / -8192 LSB If the sensor axes coordinates do not match the platforms axes coordinates, then axis remapping is required. For the accelerometer and gyroscope data, the axes remapping needs to be implemented in the applications processor’s driver. For the interrupt features to work properly, axes remapping information must be written to configuration registers of the device. Axes remapping is supported via most interrupt features in a configuration registers, which applies to the feature algorithms. ΩZ ΩX ΩY upright upright

Bosch Sensortec | BMI270 Datasheet 145 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

8.3 Landing pattern recommendation

The following landing pad recommendation is given for maximum stability of the solder connections. Pad tolerance: ±50 µm (L, W)

Bosch Sensortec | BMI270 Datasheet 146 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

8.4 Marking

8.4.1 Mass production

Labeling Name Symbol Remark Internal Code L 1 alphanumeric digit, fixed, L ≠ “E” L = “P” or “L” or “W” or “N”, internal use Product Identifier V 1 alphanumeric digit, fixed, V = “5” to identify BMI2xy product family Counter ID CCC 3 alphanumeric digits, variable to generate trace-code. Pin 1 identifier top side • --

8.4.2 Engineering samples

Labeling Name Symbol Remark Eng. sample ID L, N 2 alphanumeric digit, fixed, L = “E” to identify engineering sample, N = “L” or “C” Product Identifier V 1 alphanumeric digit, fixed, Counter ID CC 2 alphanumeric digits, variable Internal revision ID to identify BMI2xy product family Pin 1 identifier top side • -- VL CCC VL NCC

Bosch Sensortec | BMI270 Datasheet 147 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

8.5 Soldering guidelines

The moisture sensitivity level of the device corresponds to JEDEC Level 1, see also  IPC/JEDEC J-STD-020E "Joint Industry Standard: Moisture/Reflow Sensitivity Classification for non-hermetic Solid State Surface Mount Devices"  IPC/JEDEC J-STD-033D "Joint Industry Standard: Handling, Packing, Shipping and Use of Moisture/Reflow Sensitive Surface Mount Devices" Both documents are available on JEDEC’s Website The sensor fulfils the lead -free soldering requirements of th e above -mentioned IPC/JEDEC standard, i.e. reflow soldering with a peak temperature Tp up to 260°C.

8.6 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.

8.7 Environmental safety

The device meets the requirements of the EC restriction of hazardous substances (RoHS) directive, see also: ROHS-Directive 2011/65/EU and its amendments, including the amendment 2015/863/EU on the restriction of the use of certain hazardous substances in electrical and electronic equipment.

8.7.1 Halogen content

The device is halogen-free. For more details on the corresponding analysis results please contact your Bosch Sensortec representative.

8.7.2 Internal package structure

Within the scope of Bosch Sensortec’s ambition to improve its pr oducts and secure the mass product supply, Bosch Sensortec qualifies additional sources (e.g. 2nd source) for the LGA package of the device. While Bosch Sensortec took care that all of the package parameters as described above are 100% identical for all sources, there can be differences in the chemical content and the internal structure 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 device.

Bosch Sensortec | BMI270 Datasheet 148 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

9 Legal disclaimer

i. Engineering samples Engineering Samples are marked with an asterisk (*) , (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. ii. 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 safety -critical systems. Safety - critical systems are those for which a malfunction is expected to lead to bodily harm, death or severe property damage. In addition, they shall not be used directly or indirectly for military purposes (including but not limited to nuclear, chemical or biological proliferation of weapons or development of missile technology), nuclear power, deep sea or space applications (including but not limited to satellite technology). Bosch Sensortec products are released on the basis o f the legal and normative requirements relevant to the Bosch Sensortec product for use in the following geographical target market: BE, BG, DK, DE, EE, FI, FR, GR, IE, IT, HR, LV, LT, LU, M T, NL, AT, PL, PT, RO, SE, SK, SI, ES, CZ, HU, CY , US, CN, JP , KR, TW. If you need further information or have further requirements, please contact your local sales contact. The resale and/or use of Bosch Sensortec 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 accepts the responsibility to monitor the market for the purchased products, particularly with regard to product safety, and to inform Bosch Sensortec without delay of all safety-critical incidents. iii. Application examples and hints With respect to any examples or hints given herein, any typical values stated herein and/or any information regarding the app lication 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.

Bosch Sensortec | BMI270 Datasheet 149 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07

10 Document history and modification

Rev. No Section Description of modification/changes Date 0.9 - Preliminary version 29-Feb-2019 1.0 6.5 Typo 17-May-2019

1.1 Basic Description

3.1.b 4.4 4.5 4.6 4.7 4.12 4.13 4.17 5.1 6.2, 7.1 6.4 8.1 8.4 8.5, 8.7 Updated description Updated Accel only normal mode current consumption, power on time, Gyro PSR Updated initialization sequence wait time Corrected typos in wait time Updated Power Modes table Updated Gyro CAS data post processing description Updated frame rates description (FIFO) Updated accelerometer self-test range Updated offset resolution for gyro Updated soft-reset timing constraints Updated clear-on-read registers Pin 12 description (table 17, 22) Updated timing specifications for SPI (table 19) Updated package dimensions drawing (detailed) Updated MP Marking (internal code) Updated references Updated legal disclaimer 04-May-2020 1.2 2 8.1 Updated absolute max. rating for MM Erased redundant information 25-June-2020 1.3 9 Disclaimer Update 25-Nov-2020 1.4 6.6, 7.1 Updated AUX I/F description 13-Oct-2021

4.4 Enhanced initialization description

4.7 FIFO synchronization

6 Enhanced watchdog description

6.5 Updated timing specifications of I2C FM+

8.3 Updated pad tolerance (L, W: 50 µm)

1.5 4.7.1 Updated max shock limit Updated wait time during initialisation Corrected typo in Headerless mode frame size 13-March-2023

Bosch Sensortec | BMI270 Datasheet 150 | 150 Modifications reserved | Data subject to change without notice Document number: BST-BMI270-DS000-07 Bosch Sensortec GmbH Gerhard-Kindler-Straße 9

72770 Reutlingen / Germany

contact@bosch-sensortec.com www.bosch-sensortec.com Modifications reserved Specifications subject to change without notice Document number: BST-BMI270-DS000-07

Product Information

BMI270 specifications and overview.

Summary

6-axis, smart, low power Inertial Measurement Unit for high-performance applications March 2023

Description

6-axis, smart, low power Inertial Measurement Unit for high-performance applications March 2023

Source title BMI270_V01 Datasheet(PDF) - Bosch Sensortec GmbH

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