Specification

Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Product Description
The KMX62G is a high-performance, low-power, magnetometeraccelerometer device enhanced with sensor fusion software and autocalibration algorithms to deliver the industry’s first highly accurate gyro
emulation. Optimized for mobile applications, the KMX62G requires
significantly less current than any consumer gyro available today.
The KMX62G sensor consists of the KMX62-1033 tri-axial magnetometer
and tri-axial accelerometer coupled with proprietary software enabling triaxial gyroscopic outputs. The KMX62G is not intended to replace a
gyroscope at the same performance. Instead, the KMX62G provides
angular velocity outputs to applications running on mobile devices that do
not have a physical gyroscope.
KMX62 is a 6 Degrees-of-Freedom inertial sensor system that features
16-bit digital outputs accessed through I2C communication. The KMX62
sensor consists of a tri-axial magnetometer plus a tri-axial accelerometer
coupled with an ASIC. It is packaged in a 3 x 3 x 0.9mm Land Grid Array (LGA) package. The ASIC is
realized in standard 0.18um CMOS technology and features flexible user programmable
±2g/±4g/±8g/±16g full scale range for the accelerometer. Accelerometer and Magnetometer data can
be accumulated in an internal 384 byte FIFO buffer and transmitted to the application processor.
Acceleration sensing is based on the principle of a differential capacitance arising from accelerationinduced motion of the sense element, which utilizes common mode cancellation to decrease errors
from process variation, temperature, and environmental stress. Capacitance changes are amplified
and converted into digital signals which are processed by a dedicated digital signal processing unit.
The digital signal processor applies filtering, bias and sensitivity adjustment, as well as temperature
compensation.
Magnetic sensing is based on the principle of magnetic impedance. The magnetic sensor detects very
small magnetic fields by passing an electric pulse through a special electron spin aligned amorphous
wire. Due to the high Curie temperature of the wire, the sensor’s thermal performance shows excellent
stability.
Noise performance is excellent with bias stability over temperature. Bias errors resulting from
assembly can be trimmed digitally by the user. These sensors can accept supply voltages between
1.7V and 3.6V, and digital communication voltages between 1.2 and 3.6V.
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Page 1 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Table of Contents
PRODUCT DESCRIPTION ....................................................................................................................................................................1
TABLE OF CONTENTS .........................................................................................................................................................................2
FUNCTIONAL DIAGRAM ....................................................................................................................................................................4
PRODUCT SPECIFICATIONS................................................................................................................................................................5
MAGNETOMETER SPECIFICATIONS ................................................................................................................................................................. 5
ACCELEROMETER SPECIFICATIONS .................................................................................................................................................................. 6
KMX62 NOISE DIAGRAMS ........................................................................................................................................................................... 7
TEMPERATURE SENSOR ................................................................................................................................................................................ 8
ELECTRICAL SPECIFICATIONS.......................................................................................................................................................................... 8
KMX62 CURRENT CONSUMPTION DIAGRAMS ................................................................................................................................................. 9
KMX62 START UP TIME DIAGRAMS ............................................................................................................................................................ 10
POWER-ON PROCEDURE ............................................................................................................................................................................ 11
2
KMX62 I C TIMING DIAGRAM ................................................................................................................................................................... 12
EVIRONMENTAL SPECIFICATIONS.................................................................................................................................................................. 13
APPLICATION SCHEMATIC ........................................................................................................................................................................... 14
PACKAGE DIMENSIONS AND ORIENTATION: ................................................................................................................................................... 15
Dimensions ....................................................................................................................................................................................... 15
Orientation ....................................................................................................................................................................................... 16
KMX62 DIGITAL INTERFACE ............................................................................................................................................................ 17
2
I C SERIAL INTERFACE................................................................................................................................................................................ 17
2
I C OPERATION ........................................................................................................................................................................................ 18
WRITING TO A KMX62 8-BIT REGISTER ........................................................................................................................................................ 19
READING FROM A KMX62 8-BIT REGISTER.................................................................................................................................................... 19
DATA TRANSFER SEQUENCES ...................................................................................................................................................................... 20
HS-MODE ............................................................................................................................................................................................... 21
POWER MODES ............................................................................................................................................................................... 22
OFF MODE .............................................................................................................................................................................................. 22
INITIAL STARTUP ....................................................................................................................................................................................... 22
STAND-BY MODE ...................................................................................................................................................................................... 23
SLEEP MODE ............................................................................................................................................................................................ 23
LOW POWER (<RES> = 00 OR 01) MODE ..................................................................................................................................................... 23
HIGH RESOLUTION (<RES> = 10 OR 11) MODE ............................................................................................................................................. 23
KMX62 EMBEDDED REGISTERS ....................................................................................................................................................... 24
REGISTER DESCRIPTIONS................................................................................................................................................................. 26
WHO_AM_I .......................................................................................................................................................................................... 27
INTERRUPT SOURCE REGISTER 1 ................................................................................................................................................................... 27
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Page 2 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
INTERRUPT SOURCE REGISTER 2 ................................................................................................................................................................... 28
INTERRUPT SOURCE REGISTER 3 ................................................................................................................................................................... 28
INTERRUPT LATCH RELEASE ......................................................................................................................................................................... 28
ACCELEROMETER OUTPUT .......................................................................................................................................................................... 29
MAGNETOMETER OUTPUT .......................................................................................................................................................................... 29
TEMPERATURE OUTPUT ............................................................................................................................................................................. 30
INTERRUPT CONTROL 1 .............................................................................................................................................................................. 31
INTERRUPT CONTROL 2 .............................................................................................................................................................................. 32
INTERRUPT CONTROL 3 .............................................................................................................................................................................. 32
INTERRUPT CONTROL 4 .............................................................................................................................................................................. 33
INTERRUPT CONTROL 5 .............................................................................................................................................................................. 34
ACCELEROMETER MOTION CONTROL 1 ......................................................................................................................................................... 34
ACCELEROMETER MOTION CONTROL 2 ......................................................................................................................................................... 34
ACCELEROMETER MOTION CONTROL 3 ......................................................................................................................................................... 35
MAGNETOMETER MOTION CONTROL 1 ........................................................................................................................................................ 35
MAGNETOMETER MOTION CONTROL 2 ........................................................................................................................................................ 35
MAGNETOMETER MOTION CONTROL 3 ........................................................................................................................................................ 36
FREE FALL CONTROL 1 ............................................................................................................................................................................... 36
FREE FALL CONTROL 2 ............................................................................................................................................................................... 36
FREE FALL CONTROL 3 ............................................................................................................................................................................... 37
OUTPUT DATA CONTROL REGISTER ............................................................................................................................................................... 37
CONTROL REGISTER 1 ................................................................................................................................................................................ 39
CONTROL REGISTER 2 ................................................................................................................................................................................ 40
COMMAND TEST RESPONSE ........................................................................................................................................................................ 41
BUF_CTRL1,2,3..................................................................................................................................................................................... 41
BUF_CLEAR .......................................................................................................................................................................................... 42
BUFFER STATUS REGISTER 1,2 ..................................................................................................................................................................... 42
BUF_READ ............................................................................................................................................................................................ 43
Sample Buffer Feature Description .................................................................................................................................................. 43
FIFO Mode ........................................................................................................................................................................................ 43
Stream Mode.................................................................................................................................................................................... 43
Trigger Mode .................................................................................................................................................................................... 44
FILO Mode ........................................................................................................................................................................................ 44
Buffer Operation .............................................................................................................................................................................. 44
REVISION HISTORY .......................................................................................................................................................................... 51
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© 2015 Kionix – All Rights Reserved
Page 3 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Functional Diagram
X
Accel
Y
Accel
Amplifier
ADC
Z
Accel
DSP
X
Mag
Y
Mag
Amplifier
ADC
Z
Mag
FIFO buffer
Temp
Sensor
I 2C Interface
Power
Vdd
GND IO Vdd Cap
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SDA
SCL ADDR
GPIO1 GPIO2
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Page 4 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Product Specifications
Note: Specifications are for operation at Vdd = 2.5V and T = 25ºC (RES=1) unless stated otherwise
Magnetometer Specifications
Table 1. Magnetometer
Parameters
Operating Temperature Range
Full Scale Range
Digital Bit Depth
Offset at Zero Magnetic Field
Offset Temperature Coefficient
Magnetic Sensitivity
Sensitivity Accuracy
Sensitivity Temperature Coefficient.
Positive Self Test Output change on Activation
Negative Self Test Output change on Activation
Integral Non-Linearity
1
Noise (at 50Hz ODR)
Cross Axis Sensitivity
Maximum Exposed Field
Units
Min
Typical
Max
ºC
± T
bits
-40
1200
16
0
0.3
0.0366
20
0.05
800
-800
0.5
0.3
85
± T
± T/ºC
± T/LSB
±%
± %/ºC
T
T
% of FS
T (RMS)
% of FS
2
2.0 (XY)
0.5 (XZ)
0.3 (YX)
0.2 (YZ)
0.9 (ZX)
0.2 (ZY)
T
500,000
Notes:
1. See diagrams below for noise performance over ODR for all three axes.
2. No permanent effect on Zero Magnetic Field Offset.
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Page 5 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Accelerometer Specifications
Table 2. Accelerometer
Parameters
Operating Temperature Range
Units
Min
Typical
Max
ºC
-40
-
85
GSEL1=0, GSEL0=0
GSEL1=0, GSEL0=1
Full Scale Range
GSEL1=1, GSEL0=0
±2
±4
g
±8
GSEL1=1, GSEL0=1
± 16
Digital Bit Depth
16
Zero-g Offset
Zero-g Offset Temperature Coefficient
mg
±25
± mg/ºC
0.25
GSEL1=0, GSEL0=0 (± 2g)
GSEL1=0, GSEL0=1 (± 4g)
Sensitivity
GSEL1=1, GSEL0=0 (± 8g)
0.06
0.12
mg/LSB
0.24
GSEL1=1, GSEL0=1 (± 16g)
Sensitivity Accuracy
± %/ºC
Positive Self Test Output change on Activation
Sensor Mechanical Resonance (-3dB)
Integral Non-Linearity
Cross Axis Sensitivity
3
Noise (at 50Hz)
0.49
5
±%
Sensitivity Temperature Coefficient
2
1
±90
g
Hz
% of FS
±%
mg (RMS)
0.01
0.25 (XY)
0.20 (Z)
0.5
0.75 (XYZ)
3500 (xy)
1800 (z)
1
-2.0 (XY)
0.1 (XZ)
2.7 (YX)
-0.7 (YZ)
-0.8 (ZX)
1.4 (ZY)
0.75
Notes:
1. Resonance as defined by the dampened mechanical sensor.
2. As measured in a test socket. The cross axis sensitivity that is measured is the by-product
of positional inaccuracies at all stages of test and assembly.
3. See diagrams below for noise performance over ODR for all three axes.
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Page 6 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
KMX62 Noise Diagrams
Typical noise over selected ODR settings (0.781,1.563,3.125,6.25,12.5,25,50,100,200,400,800,1600Hz)
Res
Accel
Mag
00
01
10,
11
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Page 7 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Temperature Sensor
(specifications are for operation at Vdd = 2.5V and T = 25ºC unless stated otherwise)
Parameters
Units
Min
Typical
Max
Operating Temperature Range
Output Accuracy
Sensitivity (16-bit digital)
Sensitivity (8-bit digital, TEMP<15:8>)
ºC
± ºC
counts/ ºC
counts/ ºC
-40
5
0.0039
1
85
Electrical Specifications
Table 3. Electrical
Parameters
Units
Min
Typical
Max
Supply Voltage (Vdd) Operating
V
1.7
2.5
3.6
I/O Pads Supply Voltage (Vio)
Operating (mag + accel)
1
Current Consumption Magnetometer only
V
1.2
(High Resolution Mode)
Accelerometer only
(<RES> = 10 or 11)
3.6
395
295
150
µA
Output Low Voltage
Standby
V
-
1
-
5
0.2 * Vio
Output Low Voltage (Vio > 2V)
Output High Voltage
V
V
0.9 * Vio
-
0.4
-
Input Low Voltage
Input High Voltage
V
V
0.7 * Vio
-
0.3 * Vio
-
MHz
Hz
Hz
Hz
%
ms
0.1
0.781
0.4
100
800
ODR/2
3.4
25.6kHz
2
2
3,4
I C Communication Rate
Output Data Rate
RES 00,01
5
Filter -3dB Cutoff
RES 10,11
Internal Oscillator Tolerance
6
Start Up Time
Notes:
1.
2.
3.
4.
5.
6.
-10
10
See Current Consumption diagrams below for other modes (RES = 00 or 01).
2
Assuming I C communication and minimum 1.5kΩ pull-up resistor on SCL and SDA.
Assuming max bus capacitance load of 20pF.
2
The I C bus supports Standard-Mode, Fast-Mode and High Speed Mode.
User selectable via ODR control register setting
Start up time is from PC1 set to valid outputs. Time varies with Output Data Rate
(ODR) and mode setting (RES); see diagrams below
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Page 8 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
KMX62 Current Consumption Diagrams
Typical current over selected ODR (0.781,1.563,3.125,6.25,12.5,25,50,100,200,400,800,1600Hz)
Res
Accel Only
Mag Only
Accel and Mag
00
01
10,
11
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Page 9 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
KMX62 Start Up Time Diagrams
Typical Start Up Time over selected ODR (0.781,1.563,3.125,6.25,12.5,25,50,100,200,400,800,1600Hz)
Startup Time over ODR, Res 00
Startup Time over ODR, Res 01
1.6
2.5
1.4
2.0
1.2
1.5
ms
ms
1.0
0.8
1.0
0.6
0.4
0.5
0.2
0.0
0.1
0.0
1
10
100
1000
10000
0.1
1
10
ODR (Hz)
Startup Time over ODR, Res 10
10000
1400.0
1,297
1200.0
1,285
1200.0
1000.0
1000.0
800.0
650
ms
ms
1000
Startup Time over ODR, Res 11
1400.0
600.0
325
400.0
163
200.0
800.0
639
600.0
321
400.0
82 41
21 11 5.8 3.3 2.1 1.4
162
200.0
0.0
0.1
100
ODR (Hz)
81 41
21 11 5.7 3.3 2.0 1.4
0.0
1
10
100
ODR (Hz)
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1000
10000
0.1
1
10
100
1000
10000
ODR (Hz)
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Page 10 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Power-On Procedure
Proper functioning of power-on reset (POR) is dependent on the specific VDD, VDDLow, TVDD (rise
time), and TVdd_Off profile of individual applications. It is recommended to minimize VDDLow, and TVDD,
and maximize TVdd_Off. It is also advised that the Vdd ramp up time TVdd be monotonic. To assure
proper POR in all environmental conditions the application should be evaluated over the range of VDD,
VDDLow, TVDD , TVdd_Off and temperature as POR performance can vary depending on these
parameters. In order to guarantee proper reset regardless of the VDDLow, TVDD (rise time), and TVdd_Off
parameters, a software reset can be issued via the I2C protocol. Please refer to Technical Note
KMX62 Power-On Procedure to ensure proper POR function in your application.
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Page 11 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
KMX62 I2C Timing Diagram
Table 4. I2C Timing (Fast Mode)
Number
t0
t1
t2
t3
t4
t5
t6
t7
t8
t9
t10
t11
Note
Description
SDA low to SCL low transition (Start event)
SDA low to first SCL rising edge
SCL pulse width: high
SCL pulse width: low
SCL high before SDA falling edge (Start Repeated)
SCL pulse width: high during a S/Sr/P event
SCL high before SDA rising edge (Stop)
SDA pulse width: high
SDA valid to SCL rising edge
SCL rising edge to SDA invalid
SCL falling edge to SDA valid (when slave is transmitting)
SCL falling edge to SDA invalid (when slave is transmitting)
2
Recommended I C CLK
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MIN
MAX
Units
50
100
-
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
ns
us
100
100
100
50
100
50
25
50
50
0
2.5
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Page 12 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Evironmental Specifications
Table 5. Environmental
Units
Min
Typical
Max
Supply Voltage (Vdd) Absolute Limits
Parameters
V
-0.3
-
3.6
Operating Temperature Range
Storage Temperature Range
ºC
ºC
-40
-55
-
Mech. Shock (powered and unpowered)
g
-
-
ESD
V
-
-
85
150
5000 for 0.5ms
10000 for 0.2ms
2000
HBM
Caution: ESD Sensitive and Mechanical Shock Sensitive Component, improper handling
can cause permanent damage to the device.
This product conforms to Directive 2002/95/EC of the European Parliament and of the
Council of the European Union (RoHS). Specifically, this product does not contain lead,
mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), or
polybrominated diphenyl ethers (PBDE) above the maximum concentration values (MCV)
by weight in any of its homogenous materials. Homogenous materials are "of uniform
composition throughout."
HF
This product is halogen-free per IEC 61249-2-21. Specifically, the materials used in this
product contain a maximum total halogen content of 1500 ppm with less than 900-ppm
bromine and less than 900-ppm chlorine.
Soldering
Soldering recommendations are available upon request or from www.kionix.com.
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Page 13 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Application Schematic
Vdd
C1
16
IO_Vdd
15
14
1
13
2
12
GND
11
GPIO1
C2
3
SCL
4
GND
5
KMX62
10
9
6
7
GPIO2
8
SDA
ADDR
Table 6. KMX62 Pin Descriptions
Pin
Name
Description
CAP
GND
The power supply input for the digital communication bus. Optionally decouple this pin to ground with
a 0.1uF ceramic capacitor.
Do not connect, or optionally couple this pin to ground with a 1 uF ceramic capacitor.
Ground
4
SCL
I2C Serial Clock
5
6
7
8
9
10
GND
SDA
ADDR
NC
GPIO2
NC
Ground
I2C Serial Data
I2C Address pin .This pin can be connected to IO_VDD or GND to determine the I2C Device Address.
Not Internally Connected
GPIO 2
Not Internally Connected
11
GPIO1
GPIO 1
12
GND
Ground
1
2
3
IO Vdd
13
NC
Not Internally Connected
14
Vdd
The power supply input. Decouple this pin to ground with a 0.1uF ceramic capacitor.
15
NC
Not Internally Connected
16
NC
Not Internally Connected
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Page 14 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Package Dimensions and Orientation:
Dimensions
3 x 3 x 0.9 mm LGA
KMX62
Figure 1. KMX62 Package Dimensions
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Page 15 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Orientation
When device is moved in +X, +Y, or +Z direction, the corresponding accelerometer output will
increase. When the +X, +Y, or +Z arrow is directed toward North, the output of that axis is
positive.
KMX62
+X
+Z
+Y
Figure 2. KMX62 Orientation
Please
avoid mounting this product on the part in which magnetic field disturbance exists, such
as near any parts containing ferrous materials.
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Page 16 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
KMX62 Digital Interface
The Kionix KMX62 digital sensor has the ability to communicate on the I2C digital serial interface bus. This
flexibility allows for easy system integration by eliminating analog-to-digital converter requirements and by
providing direct communication with system processors. The I2C interface is compliant with high-speed mode,
fast mode and standard mode I2C protocols.
The serial interface terms and descriptions as indicated in Table 7 below will be observed throughout this
document.
Term
Transmitter
Receiver
Master
Slave
Description
The device that transmits data to the bus.
The device that receives data from the bus.
The device that initiates a transfer, generates clock signals, and terminates a transfer.
The device addressed by the Master.
Table 7. Serial Interface Terminologies
I2C Serial Interface
As previously mentioned, the KMX62 has the ability to communicate on an I2C bus. I2C is primarily used for
synchronous serial communication between a Master device and one or more Slave devices. The system
Master provides the serial clock signal and addresses Slave devices on the bus. The KMX62 always operates
as a Slave device during standard Master-Slave I2C operation.
I2C is a two-wire serial interface that contains a Serial Clock (SCL) line and a Serial Data (SDA) line. SCL is a
serial clock that is provided by the Master, but can be held low by any Slave device, putting the Master into a
wait condition. SDA is a bi-directional line used to transmit and receive data to and from the interface. Data is
transmitted MSB (Most Significant Bit) first in 8-bit per byte format, and the number of bytes transmitted per
transfer is unlimited. The I2C bus is considered free when both lines are high.
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Page 17 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
SDA SCL
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
IO Vdd
SDA
MCU
SCL
SDA
KMX62
SCL
ADDR
SDA
KMX62
SCL
ADDR
2
Figure 3. Multiple KMX62 I C Connection
Description
I2C Wr
I2C Rd
I2C Wr
I2C Rd
Address
Pad
IO_VDD
IO_VDD
GND
GND
7 bit
Address
0Fh
0Fh
0Eh
0Eh
Address
1Eh
1Fh
1Ch
1Dh
<7>
0
0
0
0
<6>
0
0
0
0
<5>
0
0
0
0
<4>
1
1
1
1
<3>
1
1
1
1
<2>
1
1
1
1
<1>
1
1
0
0
<0>
0
1
0
1
2
Table 8. I C Address
I2C Operation
Transactions on the I2C bus begin after the Master transmits a start condition (S), which is defined as a highto-low transition on the data line while the SCL line is held high. The bus is considered busy after this
condition. The next byte of data transmitted after the start condition contains the Slave Address (SAD) in the
seven MSBs (Most Significant Bits), and the LSB (Least Significant Bit) tells whether the Master will be
receiving data ‘1’ from the Slave or transmitting data ‘0’ to the Slave. When a Slave Address is sent, each
device on the bus compares the seven MSBs with its internally-stored address. If they match, the device
considers itself addressed by the Master. The KMX62’s Slave Address is comprised of two programmable
parts, which allows for connection of multiple KMX62's to the same I2C bus. The LSB is determined by the
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Page 18 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
assignment of ADDR to GND or IO_Vdd. Figure 3 and Table 8 above shows how two KMX62's would be
implemented on an I2C bus.
It is mandatory that receiving devices acknowledge (ACK) each transaction. Therefore, the transmitter must
release the SDA line during this ACK pulse. The receiver then pulls the data line low so that it remains stable
low during the high period of the ACK clock pulse. A receiver that has been addressed, whether it is Master or
Slave, is obliged to generate an ACK after each byte of data has been received. To conclude a transaction,
the Master must transmit a stop condition (P) by transitioning the SDA line from low to high while SCL is high.
The I2C bus is now free. Note that if the KMX62 is accessed through I2C protocol before the startup is finished
a NACK signal is sent.
Writing to a KMX62 8-bit Register
Upon power up, the Master must write to the KMX62’s control registers to set its operational mode. Therefore,
when writing to a control register on the I2C bus, as shown Sequence 1 on the following page, the following
protocol must be observed: After a start condition, SAD+W transmission, and the KMX62 ACK has been
returned, an 8-bit Register Address (RA) command is transmitted by the Master. This command is telling the
KMX62 to which 8-bit register the Master will be writing the data. Since this is I 2C mode, the MSB of the RA
command should always be zero (0). The KMX62 acknowledges the RA and the Master transmits the data to
be stored in the 8-bit register. The KMX62 acknowledges that it has received the data and the Master
transmits a stop condition (P) to end the data transfer. The data sent to the KMX62 is now stored in the
appropriate register. The KMX62 automatically increments the received RA commands and, therefore,
multiple bytes of data can be written to sequential registers after each Slave ACK as shown in Sequence 2 on
the following page. When the auto-increment feature reaches register address 0x7F (Buffer Read), it stops
and does not advance to register address 0x80. A new read command must be issued for registers above
0x7F. The part then continues to auto-increment until it reaches address 0xFF.
Reading from a KMX62 8-bit Register
When reading data from a KMX62 8-bit register on the I2C bus, as shown in Sequence 3 on the next page, the
following protocol must be observed: The Master first transmits a start condition (S) and the appropriate Slave
Address (SAD) with the LSB set at ‘0’ to write. The KMX62 acknowledges and the Master transmits the 8-bit
RA of the register it wants to read. The KMX62 again acknowledges, and the Master transmits a repeated
start condition (Sr). After the repeated start condition, the Master addresses the KMX62 with a ‘1’ in the LSB
(SAD+R) to read from the previously selected register. The Slave then acknowledges and transmits the data
from the requested register. The Master does not acknowledge (NACK) it received the transmitted data, but
transmits a stop condition to end the data transfer. Note that the KMX62 automatically increments through its
sequential registers, allowing data to be read from multiple registers following a single SAD+R command as
shown below in Sequence 4 on the following page.
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Page 19 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Data Transfer Sequences
The following information clearly illustrates the variety of data transfers that can occur on the I 2C bus and how
the Master and Slave interact during these transfers. Table 9 defines the I2C terms used during the data
transfers.
Term
S
Sr
SAD
W
R
ACK
NACK
RA
Data
P
Definition
Start Condition
Repeated Start Condition
Slave Address
Write Bit
Read Bit
Acknowledge
Not Acknowledge
Register Address
Transmitted/Received Data
Stop Condition
2
Table 9. I C Terms
Sequence 1. The Master is writing one byte to the Slave.
Master
Slave
S
SAD + W
RA
ACK
DATA
ACK
P
ACK
Sequence 2. The Master is writing multiple bytes to the Slave.
Master
Slave
S
SAD + W
RA
ACK
DATA
ACK
DATA
ACK
P
ACK
Sequence 3. The Master is receiving one byte of data from the Slave.
Master
Slave
S
SAD + W
RA
ACK
Sr
SAD + R
ACK
NACK
ACK
P
DATA
Sequence 4. The Master is receiving multiple bytes of data from the Slave.
Master
Slave
S
SAD + W
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RA
ACK
Sr
ACK
SAD + R
ACK
ACK
DATA
NACK
DATA
© 2015 Kionix – All Rights Reserved
Page 20 of 51
P
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
HS-mode
To enter the 3.4MHz high speed mode of communication, the device must receive the following sequence of
conditions from the master: a Start condition followed by a Master code (00001XXX) and a Master Nonacknowledge. Once recognized, the device switches to HS-mode communication. Read/write data transfers
then proceed as described in the sequences above. Devices return to the FS-mode after a STOP occurrence
on the bus.
Sequence 5. HS-mode data transfer of the Master writing one byte to the Slave.
Speed
Master
Slave
S
FS-mode
M-code NACK
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S
SAD + W
ACK
HS-mode
RA
ACK
FS-mode
DATA
P
ACK
© 2015 Kionix – All Rights Reserved
Page 21 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Power Modes
The KMX62 has five power modes: Off, Stand-by, Sleep, Low Power (RES = 0) and High Resolution (RES =
1). The part exists in one of these five modes at any given time. Off and Stand-by modes have very low
current consumptions.
Power
Mode
Bus State
Off
-
Stand-by
Sleep
<RES> =
00 or 01
<RES> =
10 or 11
VIO
Vdd
Function
Outputs
Active
OFF
ON
OFF
ON
OFF
OFF
ON
ON
No sensor activity
Not available
Waiting activation command
Accelerometer active looking
for motion wake up
Not available
Accel registers only – no
buffer, no DRDY int
Active
ON
ON
Active
ON
ON
All functionalities available
All sensors available
Active
ON
ON
All functionalities available
All sensors available
Off mode
One or both of the power supplies (Vdd or VIO) are not powered. The sensor is completely inactive and not
reporting or communicating. Bus communication actions of other devices are not disturbed if they are using
the same bus interface as this component.
Initial Startup
The preferred startup sequence is to turn on VIO before Vdd, but if Vdd is turned on first, the component will
not affect the bus communications (no latch-up or other problems during engine system level wake-up).
Power On Reset (POR) is performed every time when:
1. VIO supply is valid
2. Vdd power supply is going to valid level
OR
1. VIO power supply is going to valid level
2. Vdd supply is valid
When POR occurs, the registers are loaded from OTP and the part is put into Stand-by mode.
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Page 22 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Stand-by mode
The primary function of the stand-by mode is to ensure fast wake-up to active mode and to minimize current
consumption. This mode is set as default when both power supplies are applied and the POR function
occurs. A Soft Reset command also performs the POR function and puts the part into Stand-by mode.
Stand-by mode is a low power waiting state for fast turn on time. Bus communication actions of other
components are not disturbed if they are using the same bus. There is only one possible way to change to
active mode – a register command from the external application processor via the I2C bus.
Sleep mode
While in sleep mode, the accelerometer is periodically taking a measurement to detect if there is any motion.
Data in the accelerometer registers is being updated, however, there is no data ready interrupt being
reported. Also, no data is being sent to the buffer.
Low Power (<RES> = 00 or 01) mode
Stand-by-mode can be changed to a Low Power mode by writing to register Control Register 2 or when a
motion wake up event occurs.
Low power mode engages the full functionality of accelerometer and/or magnetometer measurements in a
low power, low resolution mode. The host has the ability to change settings in the control register back to
Stand-by mode for either or both the accelerometer and magnetometer. If enabled, the back to sleep
function will put the part into the Sleep mode.
The host can also place the part into High Resolution (<RES> = 10 or 11) mode by writing to Control
Register 2.
High Resolution (<RES> = 10 or 11) mode
Stand-by-mode can be changed to High Resolution mode by writing to register Control Register 2.
High Resolution mode engages the full functionality of accelerometer and/or magnetometer measurements
in a higher power, higher resolution mode. The host has the ability to change settings in the control register
back to Stand-by mode for either or both the accelerometer and magnetometer. If enabled, the back to
sleep function will put the part into the Sleep mode.
The host can also place the part into Low Power (<RES> = 00 or 01) mode by writing to Control Register 2.
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Page 23 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
KMX62 Embedded Registers
The KMX62 has 45 embedded 8-bit registers that are accessible by the user. This section contains the
addresses for all embedded registers and also describes bit functions of each register. Table 10 below
provides a listing of the accessible 8-bit registers and their addresses.
2
Table 10. I C Register Map
Register Name
WHO_AM_I
INS1
INS2
INS3
INL
ACCEL_XOUT_L
ACCEL_XOUT_H
ACCEL_YOUT_L
ACCEL_YOUT_H
ACCEL_ZOUT_L
ACCEL_ZOUT_H
MAG_XOUT_L
MAG_XOUT_H
MAG_YOUT_L
MAG_YOUT_H
MAG_ZOUT_L
MAG_ZOUT_H
TEMP_OUT_L
TEMP_OUT_H
INC1
INC2
INC3
INC4
INC5
AMI_CNTL1
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I2C Address
(Hex)
00h
01h
02h
03h
05h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
11h
12h
13h
14h
15h
16h
17h
2Ah
2Bh
2Ch
2Dh
2Eh
2Fh
Type
R/W
R/W
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R/W
R/W
R/W
R/W
R/W
R/W
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Page 24 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
AMI_CNTL2
AMI_CNTL3
MMI_CNTL1
MMI_CNTL2
MMI_CNTL3
FFI_CNTL1
FFI_CNTL2
FFI_CNTL3
ODCNTL
CNTL1
CNTL2
COTR
BUF_CTRL_1
BUF_CTRL_2
BUF_CTRL_3
BUF_CLEAR
BUF_STATUS_1
BUF_STATUS_2
BUF_STATUS_3
BUF_READ
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30h
31h
32h
33h
34h
35h
36h
37h
38h
39h
3Ah
3Ch
77h
78h
79h
7Ah
7Bh
7Ch
7Dh
7Eh
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R
R/W
R/W
R/W
W
R
R
R
R
© 2015 Kionix – All Rights Reserved
Page 25 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Register Descriptions
Register
Addr
R/W
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
Register is the general description of the contents of the register.
Addr is the address of the register used during communications
R/W describes if a register can be written to or read from.
POR gives the value of the register after power is applied or after software reset (SRST bit)
OTP = Factory default values reloaded into registers from OTP.
00h = Register contains all zeros
blank = Register is a write only register or sensor output
Wrt describes how the ASIC will behave if the register is written while enabled. This is
important because if modes of operation are change while the state machine is
running the digital portion of the ASIC can enter undefined states and cause
unexpected results.
blank = This register cannot be written to.
OTF = On The Fly registers can be written while the ASIC is enabled and the change
will be accepted with no interruption in the operation although there will be a settling
time for some changes.
RST = Restart indicates that if this register is written to while any sensors are enabled
the ASIC will automatically disable for a brief time and then re-enable the sensors that
were previously enabled. Interrupt and buffer status registers will be cleared (01h, 02h,
03h, 7Bh, 7Ch, 7Dh)
NRST = No Restart indicates that if this register is written to while any sensors are
enabled the ASIC will NOT automatically disable/enable. Changes apply to the block
being controlled for quick sweeps but the operation of the digital engine may not be
correct and the DUT must be disabled/enabled for complete functionality.
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Page 26 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
WHO_AM_I
This register can be used for supplier recognition, as it can be factory written to a known byte value.
Register
WHO_AM_I
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
00h R/W 19h
R/W
OTF
WAI_MIR<7>
WAI_MIR<6>
WAI_MIR<5>
WAI_MIR<4>
WAI_MIR<3>
WAI_MIR<2>
WAI_MIR<1>
WAI_MIR<0>
Interrupt source register 1
This Register tells which function caused an interrupt.
Register
Addr
R/W
POR
INS1
01h
R
00h
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
INT
BFI
WMI
DRDY_A
DRDY_M
FFI
AMI
MMI
INT reports the combined (OR) interrupt information of all enabled interrupt.
0= no interrupt event, 1= interrupt event has occurred.
BFI - indicates that the buffer is full. This bit is cleared when the data is read until the buffer is
not full.
BFI = 0 – Buffer is not full
BFI = 1 – Buffer is full
WMI - indicates that user-defined buffer watermark has been reached. This bit is cleared
when the data is read until the sample level in the buffer is smaller than the watermark
threshold.
WMI = 0 – Buffer watermark not reached
WMI = 1 – Buffer watermark reached
DRDY_A - indicates that new acceleration data is available. This bit is cleared when the data
is read or the interrupt release register (INL Register) is read.
DRDY = 0 – New acceleration data not available
DRDY = 1 – New acceleration data available
DRDY_M - indicates that new magnetometer data is available. This bit is cleared when the
data is read or the interrupt release register (INL Register) is read.
DRDY = 0 – New acceleration data not available
DRDY = 1 – New acceleration data available
FFI – Free fall, this bit is cleared when the interrupt source latch register (INL Register) is
read.
FFS = 1 – Free fall has activated the interrupt
FFS = 0 – No free fall
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Page 27 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
AMI – Accelerometer motion interrupt, This bit is cleared when the interrupt source latch
register (INL Register) is read.
AMS = 1 – Motion has activated the interrupt
AMS = 0 – No motion
MMI – Magnetometer motion interrupt, This bit is cleared when the interrupt source latch
register (INL Register) is read.
MMS = 1 – Motion has activated the interrupt
MMS = 0 – No motion
Interrupt source register 2
This Register reports the sensor, axis and direction of the motion that triggered the interrupt.
Register
Addr
R/W
POR
INS2
02h
R
00h
Wrt
Bit 7
Bit 6
SPARE_0002<7> SPARE_0002<6>
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
AXNI
AXPI
AYNI
AYPI
AZNI
AZPI
AXNI - x negative (x-)
AXPI - x positive (x+)
AYNI - y negative (y-)
AYPI - y positive (y+)
AZNI - z negative (z-)
AZPI - z positive (z+)
Interrupt source register 3
This Register reports the sensor, axis and direction of the motion that triggered the interrupt.
Register
Addr
R/W
POR
INS3
03h
R
00h
Wrt
Bit 7
Bit 6
SPARE_0003<7> SPARE_0003<6>
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
MXNI
MXPI
MYNI
MYPI
MZNI
MZPI
MXNI - x negative (x-)
MXPI - x positive (x+)
MYNI - y negative (y-)
MYPI - y positive (y+)
MZNI - z negative (z-)
MZPI - z positive (z+)
Interrupt latch release
Latched interrupt source information (at INS1 and INS2) is cleared and physical interrupt latched pin is
changed to its inactive state when this register is read. If an engine is configured as an unlatched
interrupt and the current state is indicating and interrupt this release will not clear the interrupt.
Register
Addr
R/W
POR
INL
05h
R
00h
Wrt
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Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
0
0
0
0
0
0
0
0
© 2015 Kionix – All Rights Reserved
Page 28 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Accelerometer output
Register
Addr
R/W
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
ACCEL_XOUT_L
0Ah
R
POR
Wrt
ACC_X<7>
ACC_X<6>
ACC_X<5>
ACC_X<4>
ACC_X<3>
ACC_X<2>
ACC_X<1>
ACC_X<0>
ACCEL_XOUT_H
0Bh
R
ACC_X<15>
ACC_X<14>
ACC_X<13>
ACC_X<12>
ACC_X<11>
ACC_X<10>
ACC_X<9>
ACC_X<8>
ACCEL_YOUT_L
0Ch
R
ACC_Y<7>
ACC_Y<6>
ACC_Y<5>
ACC_Y<4>
ACC_Y<3>
ACC_Y<2>
ACC_Y<1>
ACC_Y<0>
ACCEL_YOUT_H
0Dh
R
ACC_Y<15>
ACC_Y<14>
ACC_Y<13>
ACC_Y<12>
ACC_Y<11>
ACC_Y<10>
ACC_Y<9>
ACC_Y<8>
ACCEL_ZOUT_L
0Eh
R
ACC_Z<7>
ACC_Z<6>
ACC_Z<5>
ACC_Z<4>
ACC_Z<3>
ACC_Z<2>
ACC_Z<1>
ACC_Z<0>
ACCEL_ZOUT_H
0Fh
R
ACC_Z<15>
ACC_Z<14>
ACC_Z<13>
ACC_Z<12>
ACC_Z<11>
ACC_Z<10>
ACC_Z<9>
ACC_Z<8>
These registers contain up to 16-bits of valid acceleration data for each axis. The data is updated every
user-defined ODR period, is protected from overwrite during each read, and can be converted from
digital counts to acceleration (g) per Figure 4 below. The register acceleration output binary data is
represented in N-bit 2’s complement format. For example, if N = 16 bits, then the Counts range is from
-32768 to 32767.
16-bit
Register Data
(2’s complement)
0111 1111 1111 1111
0111 1111 1111 1110
…
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
…
1000 0000 0000 0001
1000 0000 0000 0000
Equivalent
Counts in decimal
32767
32766
…
1
0
-1
…
-32767
-32768
Range = +/-2g
+1.99994g
+1.99988g
…
+0.00006g
0.00000g
-0.00006g
…
-1.99994g
-2.00000g
Range = +/-4g
+3.99988g
+3.99976g
…
+0.00012g
0.00000g
-0.00012g
…
-3.99988g
-4.00000g
Range = +/-8g
+7.99976g
+7.99951g
…
+0.00024g
0.000g
-0.00024g
…
-7.99976g
-8.00000g
Range = +/-16g
+15.99951g
+15.99902g
…
+0.00049g
0.00000g
-0.00049g
…
-15.99951g
-16.00000g
Figure 4. Acceleration (g) Calculation
Magnetometer output
Register
Addr
R/W
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
MAG_XOUT_L
10h
R
POR
Wrt
MAG_X<7>
MAG_X<6>
MAG_X<5>
MAG_X<4>
MAG_X<3>
MAG_X<2>
MAG_X<1>
MAG_X<0>
MAG_XOUT_H
11h
R
MAG_X<15>
MAG_X<14>
MAG_X<13>
MAG_X<12>
MAG_X<11>
MAG_X<10>
MAG_X<9>
MAG_X<8>
MAG_YOUT_L
12h
R
MAG_Y<7>
MAG_Y<6>
MAG_Y<5>
MAG_Y<4>
MAG_Y<3>
MAG_Y<2>
MAG_Y<1>
MAG_Y<0>
MAG_YOUT_H
13h
R
MAG_Y<15>
MAG_Y<14>
MAG_Y<13>
MAG_Y<12>
MAG_Y<11>
MAG_Y<10>
MAG_Y<9>
MAG_Y<8>
MAG_ZOUT_L
14h
R
MAG_Z<7>
MAG_Z<6>
MAG_Z<5>
MAG_Z<4>
MAG_Z<3>
MAG_Z<2>
MAG_Z<1>
MAG_Z<0>
MAG_ZOUT_H
15h
R
MAG_Z<15>
MAG_Z<14>
MAG_Z<13>
MAG_Z<12>
MAG_Z<11>
MAG_Z<10>
MAG_Z<9>
MAG_Z<8>
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tel: 607-257-1080 – fax:607-257-1146
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© 2015 Kionix – All Rights Reserved
Page 29 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
These registers contain 16-bits of valid magnetic field data for each axis. The data is protected from
overwrite during each read, and can be converted from digital counts to magnetic field strength (T)
per Figure 3 below.
Magnetic field T
+1199.9634 T
+1199.9268 T
…
…
+0.0366 T
0 T
-0.0366 T
…
…
-1199.9634 T
-1200.0000 T
16-bit Data
0111 1111 1111 1111
0111 1111 1111 1110
…
…
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
…
…
1000 0000 0000 0001
1000 0000 0000 0000
Figure 5. Magnetic field (T) Calculation
Temperature Output
Register
Addr
R/W
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
TEMP_OUT_L
16h
R
POR
Wrt
TEMP<7>
TEMP<6>
TEMP<5>
TEMP<4>
TEMP<3>
TEMP<2>
TEMP<1>
TEMP<0>
TEMP_OUT_H
17h
R
TEMP<15>
TEMP<14>
TEMP<13>
TEMP<12>
TEMP<11>
TEMP<10>
TEMP<9>
TEMP<8>
The temperature registers contain up to 16-bits of temperature data. If only register TEMP_OUT_H is
used, then the sensitivity can be considered as 1 count/ᵒC. If both registers TEMP_OUT_H and
TEMP_OUT_L are used (16 bits), then sensitivity can be considered as 64 count/ᵒC.
8-bit
Register Data
TEMP_OUT_H
(2’s complement)
0101 0101
…
0000 0001
0000 0000
1111 1111
…
1101 1000
16-bit
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Equivalent
Counts in decimal
85
…
1
0
-1
…
-40
Equivalent
Temperature (ᵒC)
+85 ᵒC
…
+1 ᵒC
0 ᵒC
-1 ᵒC
…
-40 ᵒC
Temperature
© 2015 Kionix – All Rights Reserved
Page 30 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
Register Data
(2’s complement)
0101 0101 0000 0000
…
0000 0001 0000 0000
…
0000 0000 0100 0000
…
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
…
1111 1111 1100 0000
…
1111 1111 0000 0000
…
1101 1000 0000 0000
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Counts in decimal
(ᵒC)
21760
…
256
…
64
…
1
0
-1
…
-64
…
-256
…
-10240
+85.000 ᵒC
…
+1.0000 ᵒC
…
+0.2500 ᵒC
…
+0.0039 ᵒC
0.0000 ᵒC
-0.0039 ᵒC
…
-0.2500 ᵒC
…
-1.0000 ᵒC
…
-40.000 ᵒC
Figure 6. Temperature (ᵒC) Calculation
Interrupt control 1
Interrupts reported on GPIO1.
Register
INC1
Addr
R/W
POR
2Ah R/W 00h
Wrt
Bit 7
RST SPARE_002A<7>
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
BFI1
WMI1
DRDY_A1
DRDY_M1
FFI1
AMI1
MMI1
BFI1 - Buffer full interrupt reported on GPIO1
BFI = 0 – disable
BFI = 1 – enable.
WMI1 - Watermark interrupt reported on GPIO1
WMI1 = 0 – disable
WMI1 = 1 – enable
DRDY_A1 - Accelerometer Data ready reported on GPIO1
DRDY_A1 = 0 – disable
DRDY_A1 = 1 – enable.
DRDY_M1 - Magnetometer Data ready reported on GPIO1
DRDY_M1 = 0 – disable
DRDY_M1 = 1 – enable.
FFI1 - Accelerometer Freefall interrupt reported on GPIO1
FFI1 = 0 – disable
FFI1 = 1 – enable.
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tel: 607-257-1080 – fax:607-257-1146
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© 2015 Kionix – All Rights Reserved
Page 31 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
AMI1 - Accelerometer motion interrupt reported on GPIO1
AMI1 = 0 – disable
AMI1 = 1 – enable.
MMI1 - Magnetometer motion interrupt reported on GPIO1
MMI1 = 0 – disable
MMI1 = 1 – enable.
Interrupt control 2
Interrupts reported on GPIO2.
Register
INC2
Addr
R/W
POR
2Bh R/W 00h
Wrt
Bit 7
RST SPARE_002B<7>
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
BFI2
WMI2
DRDY_A2
DRDY_M2
FFI2
AMI2
MMI2
BFI2- Buffer full interrupt reported on GPIO2
BFI2 = 0 – disable
BFI2 = 1 – enable.
WMI2 - Watermark interrupt reported on GPIO2
WMI2 = 0 – disable
WMI2 = 1 – enable
DRDY_A2 - Accelerometer Data ready reported on GPIO2
DRDY_A2 = 0 – disable
DRDY_A2 = 1 – enable.
DRDY_M2 - Magnetometer Data ready reported on GPIO2
DRDY_M2 = 0 – disable
DRDY_M2 = 1 – enable.
FFI2 - Accelerometer Freefall interrupt reported on GPIO2
FFI2 = 0 – disable
FFI2 = 1 – enable.
AMI2 - Accelerometer motion interrupt reported on GPIO2
AMI2 = 0 – disable
AMI2 = 1 – enable.
MMI2 - Magnetometer motion interrupt reported on GPIO2
MMI2 = 0 – disable
MMI2 = 1 – enable.
Interrupt control 3
GPIO pin configuration.
Register
INC3
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
2Ch R/W 88h
R/W
RST
IED2
IEA2
IEL2<1>
IEL2<0>
IED1
IEA1
IEL1<1>
IEL1<0>
IED1 – Interrupt pin drive options for GPIO1
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Page 32 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
IED1 = 0 – push-pull
IED1 = 1 – open-drain
IEA1 - Interrupt active level control for interrupt GPIO1
IEA1 = 0 – active low
IEA1 = 1 – active high
IEL1 <1,0>- Interrupt latch control for interrupt GPIO1
IEL1 = 0,0 – latched/unlatched. Unlatched feature is available for FFI,MME and
AMI.
IEL1 = 0,1 – pulsed. In pulse mode the pulse width is 50us for normal mode and
10us for debug mode (high ODR rates).
IEL1 = 1,X – trigger input for FIFO.
IED2 – Interrupt pin drive options for GPIO2
IED2 = 0 – push-pull
IED2 = 1 – open-drain
IEA2 - Interrupt active level control for interrupt GPIO2
IEA2 = 0 – active low
IEA2 = 1 – active high
IEL2 <1,0>- Interrupt latch control for interrupt GPIO2
IEL2 = 0,0 – latched/unlatched. Unlatched feature is available for FFI,MME and
AMI.
IEL2 = 0,1 – pulsed. In pulse mode the pulse width is 50us for normal mode and
10us for debug mode (high ODR rates).
IEL2 = 1,X – trigger input for FIFO.
IED#
0
0
0
0
1
1
1
1
IEA#
0
0
1
1
0
0
1
1
IEL#<1,0>
0,0
0,1
0,0
0,1
0,0
0,1
0,0
0,1
BFI#
0
0
0
0
0
0
0
0
WMI#
0
0
0
0
0
0
0
0
X
X
1,X
X
X
DRDY_A# DRDY_M#
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
X
FFI#
0
0
0
0
0
0
0
0
MMI#
0
0
0
0
0
0
0
0
AMI#
0
0
0
0
0
0
0
0
X
X
X
X
GPIO state
The GPIO pin is held high
The GPIO pin is held high
The GPIO pin is held low
The GPIO pin is held low
The GPIO pin is high impedance
The GPIO pin is high impedance
The GPIO pin is held low
The GPIO pin is held low
The GPIO pin is configured as an
input for FIFO trigger. If both GPIO
pins are trigger, the signals are
OR’ed.
Special Cases
Interrupt control 4
This register controls which accelerometer axis and direction of detected motion can cause an
interrupt.
Register
INC4
Addr
R/W
POR
2Dh R/W 3Fh
Wrt
N
Bit 7
Bit 6
SPARE_002D<7> SPARE_002D<6>
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Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
AXNIE
AXPIE
AYNIE
AYPIE
AZNIE
AZPIE
© 2015 Kionix – All Rights Reserved
Page 33 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
AXNIE - x negative (x-) accelerometer mask for AMI, 0=disable, 1=enable.
AXPIE - x positive (x+) accelerometer mask for AMI, 0=disable, 1=enable.
AYNIE - y negative (y-) accelerometer mask for AMI, 0=disable, 1=enable.
AYPIE - y positive (y+) accelerometer mask for AMI, 0=disable, 1=enable.
AZNIE - z negative (z-) accelerometer mask for AMI, 0=disable, 1=enable.
AZPIE - z positive (z+) accelerometer mask for AMI, 0=disable, 1=enable.
Interrupt control 5
This register controls which magnetometer axis and direction of detected motion can cause an
interrupt.
Register
INC5
Addr
R/W
POR
2Eh R/W 3Fh
Wrt
N
Bit 7
Bit 6
SPARE_002E<7> SPARE_002E<6>
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
MXNIE
MXPIE
MYNIE
MYPIE
MZNIE
MZPIE
MXNIE - x negative (x-) magnetometer mask for MMI, 0=disable, 1=enable.
MXPIE - x positive (x+) magnetometer mask for MMI, 0=disable, 1=enable.
MYNIE - y negative (y-) magnetometer mask for MMI, 0=disable, 1=enable.
MYPIE - y positive (y+) magnetometer mask for MMI, 0=disable, 1=enable.
MZNIE - z negative (z-) magnetometer mask for MMI, 0=disable, 1=enable.
MZPIE - z positive (z+) magnetometer mask for MMI, 0=disable, 1=enable.
Accelerometer Motion Control 1
This register has control settings for the accelerometer motion interrupt function.
Register
AMI_CNTL1
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
2Fh R/W 00h
R/W
RST
AMITH<7>
AMITH<6>
AMITH<5>
AMITH<4>
AMITH<3>
AMITH<2>
AMITH<1>
AMITH<0>
AMITH<7:0> - Accelerometer motion interrupt threshold. This value is compared to the top 8
bits of the accelerometer 4g output.
Accelerometer Motion Control 2
This register has control settings for the accelerometer motion interrupt function.
Register
AMI_CNTL2
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
30h R/W 00h
R/W
RST
AMICT<7>
AMICT<6>
AMICT<5>
AMICT<4>
AMICT<3>
AMICT<2>
AMICT<1>
AMICT<0>
AMICT<7:0> - Accelerometer motion interrupt counter. Every count is calculated as 1/ODR
delay period, where the Motion Interrupt ODR is user-defined per the OAMI bits in
AM_CNTL3. A new state must be valid as many measurement periods before the
change is accepted. Note that to properly change the value of this register, the
accelerometer should be in stand.
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© 2015 Kionix – All Rights Reserved
Page 34 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Accelerometer Motion Control 3
This register has control settings for the accelerometer motion interrupt function.
Register
AMI_CNTL3
Addr
POR
Wrt
Bit 7
Bit 6
31h R/W 00h
R/W
RST
AMI_EN
AMIUL
Bit 5
Bit 4
Bit3
SPARE_0031<5> SPARE_0031<4> SPARE_0031<3>
Bit 2
Bit 1
Bit 0
OAMI<2>
OAMI<1>
OAMI<0>
AMI_EN - Accelerometer motion interrupt engine enable
AMI_EN = 0 – disabled
AMI_EN = 1 – enabled
AMIUL - Accelerometer Motion Interrupt latch/un-latch control for interrupt GPIO1/2
AMIUL = 0 – latched
AMIUL = 1 – un-latched
OAMI<2:0> - Output Data Rate at which the accelerometer motion detection performs its
function.
OAMI<2> OAMI <1> OAMI <0>
0
0
0
0
0
1
0
1
0
0
1
1
1
0
0
1
0
1
1
1
0
1
1
1
Output Data Rate (Hz)
0.781
1.563
3.125
6.25
12.5
25
50
100
Magnetometer Motion Control 1
This register has control settings for the magnetometer motion interrupt function.
Register
MMI_CNTL1
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
32h R/W 00h
R/W
RST
MMITH<7>
MMITH<6>
MMITH<5>
MMITH<4>
MMITH<3>
MMITH<2>
MMITH<1>
MMITH<0>
MMITH<7:0> - Magnetometer motion interrupt threshold. This value is compared to the top 8
bits of the magnetometer 1200uT output.
Magnetometer Motion Control 2
This register has control settings for the magnetometer motion interrupt function.
Register
MMI_CNTL2
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
33h R/W 00h
R/W
RST
MMICT<7>
MMICT<6>
MMICT<5>
MMICT<4>
MMICT<3>
MMICT<2>
MMICT<1>
MMICT<0>
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© 2015 Kionix – All Rights Reserved
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
MMICT<7:0> - Magnetometer motion interrupt counter. Every count is calculated as 1/ODR
delay period.
Magnetometer Motion Control 3
This register has control settings for the magnetometer motion interrupt function.
Register
MMI_CNTL3
Addr
POR
Wrt
Bit 7
Bit 6
34h R/W 00h
R/W
RST
MMI_EN
MMIUL
Bit 5
Bit 4
Bit3
SPARE_0034<5> SPARE_0034<4> SPARE_0034<3>
Bit 2
Bit 1
Bit 0
OMMI<2>
OMMI<1>
OMMI<0>
MMI_EN - Magnetometer motion interrupt engine enable
MMI_EN = 0 – disabled
MMI_EN = 1 – enabled
MMIUL - Magnetometer Motion Interrupt latch/un-latch control for interrupt GPIO1/2
MMIUL = 0 – latched
MMIUL = 1 – un-latched
OMMI<2:0> - Output Data Rate at which the magnetometer motion detection performs its
function.
OMMI<2> OMMI <1> OMMI <0> Output Data Rate (Hz)
0
0
0
0.781
0
0
1
1.563
0
1
0
3.125
0
1
1
6.25
1
0
0
12.5
1
0
1
25
1
1
0
50
1
1
1
100
Free Fall Control 1
This register has control settings for the free fall interrupt function.
Register
FFI_CNTL1
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
35h R/W 00h
R/W
RST
FFITH<7>
FFITH<6>
FFITH<5>
FFITH<4>
FFITH<3>
FFITH<2>
FFITH<1>
FFITH<0>
FFITH<7:0> - Accelerometer free fall interrupt threshold. This value is compared to the
top 8 bits of the accelerometer 4g output.
Free Fall Control 2
This register has control settings for the free fall interrupt function.
Register
Addr
R/W
POR
Wrt
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Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
© 2015 Kionix – All Rights Reserved
Page 36 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
FFI_CNTL2
36h R/W 00h
RST
FFICT<7>
FFICT<6>
FFICT<5>
FFICT<4>
FFICT<3>
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
FFICT<2>
FFICT<1>
FFICT<0>
FFICT<7:0> - Accelerometer free fall interrupt counter. Every count is calculated as
1/ODR delay period.
Free Fall Control 3
This register has control settings for the free fall interrupt function.
Register
FFI_CNTL3
Addr
POR
Wrt
Bit 7
Bit 6
37h R/W 00h
R/W
RST
FFI_EN
FFIUL
Bit 5
Bit 4
SPARE_0037<5> SPARE_0037<4>
Bit3
Bit 2
Bit 1
Bit 0
DCRM
OFFI<2>
OFFI<1>
OFFI<0>
FFI_EN - Accelerometer freefall engine enable
FFI_EN = 0 – disabled
FFI_EN = 1 – enabled
FFIUL - Accelerometer Freefall Interrupt latch/un-latch control for interrupt GPIO1/2
FFIUL = 0 – latched
FFIUL = 1 – un-latched
DCRM – Debounce methodology control.
DCRM = 0 - count up/down
DCRM = 1- count up/reset.
OFFI<2:0> - Output Data Rate at which the free fall detection performs its function.
OFFI<2>
0
0
0
0
1
1
1
1
OFFI <1>
0
0
1
1
0
0
1
1
OFFI <0>
0
1
0
1
0
1
0
1
Output Data Rate (Hz)
12.5
25
50
100
200
400
800
1600
Output data control register
Output data control register
Register
ODCNTL
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
38h R/W 22h
R/W
RST
OSM<3>
OSM<2>
OSM<1>
OSM<0>
OSA<3>
OSA<2>
OSA<1>
OSA<0>
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© 2015 Kionix – All Rights Reserved
Page 37 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
OSA<3:0> - Rate at which data samples from the accelerometer will be updated in the
register map.
OSA<3> OSA<2> OSA<1> OSA<0>
Output Data Rate (Hz)
0
0
0
0
12.5**
0
0
0
1
25**
0
0
1
0
50**
0
0
1
1
100**
0
1
0
0
200**
0
1
0
1
400*
0
1
1
0
800
0
1
1
1
1600
1
0
0
0
0.781**
1
0
0
1
1.563**
1
0
1
0
3.125**
1
0
1
1
6.25**
1
1
0
0
25.6kHz, ST 0.8kHz
1
1
0
1
25.6kHz, ST 1.6kHz
1
1
1
0
25.6kHz, ST 3.2kHz
1
1
1
1
25.6kHz
Accelerometer Sampling Rate
OSM<3:0> - Rate at which data samples from the magnetometer (and temperature sensor if
enabled) will be updated in the register map.
OSM<3> OSM<2> OSM<1> OSM<0>
Output Data Rate (Hz)
0
0
0
0
12.5**
0
0
0
1
25**
0
0
1
0
50**
0
0
1
1
100**
0
1
0
0
200**
0
1
0
1
400*
0
1
1
0
800
0
1
1
1
1600
1
0
0
0
0.781**
1
0
0
1
1.563**
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tel: 607-257-1080 – fax:607-257-1146
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© 2015 Kionix – All Rights Reserved
Page 38 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
1
1
1
1
1
1
0
0
1
1
1
1
1
1
0
0
1
1
0
1
0
1
0
1
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
3.125**
6.25**
12.8kHz (polarity bit bypassed)
12.8kHz (polarity bit bypassed)
12.8kHz (polarity bit bypassed)
12.8kHz (polarity bit bypassed)
Magnetometer Sampling Rate
Note: The FIFO buffer will be updated at the faster of the two output data rates (OSM or OSA).
* RES<0,0> available, all others will default to full power mode.
** RES<0,0> and RES<0,1> available, all others will default to full power mode.
Before changing the ODR of a sensor, both sensors should be in stand-by. Write the new ODR value(s) to
ODCNTL, and then enable the sensor(s).
Control register 1
Control
R/W
register that controls the main feature set.
Register
Addr
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
CNTL1
39h R/W 00h
RST
SRST
STEN
STPOL
Reserved
COTC
Reserved
Bit 1
Bit 0
SPARE_0039<1> SPARE_0039<0>
SRST Software Reset function
SRST = 0 – no action
SRST = 1 – start POR routine
STEN - ST enable. This bit enables the self-test mode that will produce a change in both the
accelerometer and magnetometer transducers and can be measured in the output registers.
STEN = 0 – ST is disabled
STEN = 1 – ST is enabled.
STPOL – Accelerometer and Magnetometer ST polarity.
STPOL = 0 – ST polarity is positive
STPOL = 1 – ST polarity is negative.
COTC enables the command test function
COTC= 0 – no action
COTC = 1 – sets AAh to COTR register, when the COTR register is read, COTC is
cleared and STR = 55h.
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Page 39 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Control register 2
This is used to enable and disable the sensors.
Register
Addr
CNTL2
3Ah R/W 00h
R/W
POR
Wrt
Bit 7
RST SPARE_003A<7>
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
TEMP_EN
Gsel<1>
Gsel<0>
RES<1>
RES<0>
MAG_EN
ACCEL_EN
TEMP_EN controls the operating mode of the ASIC_AO’s temperature sensors. MAG_EN
must also be enabled for temperature data to be converted. Output data rate is locked
to the magnetometer’s OSM.
Temp_EN = 0 – stand-by mode
Temp_EN = 1 – operating mode, magnetometer and temperature output registers are
updated at the selected output data rate.
GSEL<1, 0> selects the acceleration range of the accelerometer outputs per the following
table.
GSEL<1> GSEL<0> Range
0
0
+/-2g
0
1
+/-4g
1
0
+/-8g
1
1
+/-16g
Selected Acceleration Range
RES<1, 0> selects the resolution of both sensors.
Accelerometer Magnetometer
RES<1> RES<0> over sample
over sample
0
0
4
2
0
1
32
16
1
0
maximum
maximum
1
1
maximum
maximum
Selected resolution range
MAG_EN controls the operating mode of the ASIC_AO’s magnetometer sensors.
MAG_EN = 0 – stand-by mode.
MAG_EN = 1 – operating mode, magnetometer output registers are updated at the
selected output data rate.
ACCEL_EN controls the operating mode of the ASIC_AO’s accelerometer
ACCEL_EN = 0 – stand-by mode.
ACCEL_EN = 1 – operating mode, accelerometer output registers are updated at the
selected output data rate.
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Command test response
This register can be used to verify proper communication functionality. It always has a byte value of
0x55h unless the COTC bit in CNTL1 is set. At that point this value is set to 0xAAh. The byte value is
returned to 0x55h after reading this register.
Register
Addr
R/W
POR
COTR
3Ch
R
55h
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
COTR<7>
COTR<6>
COTR<5>
COTR<4>
COTR<3>
COTR<2>
COTR<1>
COTR<0>
BUF_CTRL1,2,3
These registers control the buffer sample buffer operation.
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
BUF_CTRL_1
Register
Addr
77h R/W 00h
R/W
RST
SMT_TH<7>
SMT_TH<6>
SMT_TH<5>
SMT_TH<4>
SMT_TH<3>
SMT_TH<2>
SMT_TH<1>
SMT_TH<0>
BUF_CTRL_2
78h R/W 00h
RST SPARE_0078<7> SPARE_0078<6> SPARE_0078<5> SPARE_0078<4> SPARE_0078<3>
BUF_M<1>
BUF_M<0>
SMT_TH<8>
BUF_CTRL_3
79h R/W 00h
RST
BUF_MY
BUF_MZ
BUF_TEMP
BFI_EN
BUF_AX
BUF_AY
BUF_AZ
BUF_MX
SMP_TH<8,0> Sample Threshold - determines the number of data bytes that will trigger a
watermark interrupt or will be saved prior to a trigger event. The maximum number of
data bytes is 384 (example - 32 samples of 3 axis of accl and 3 axis of mag by 2 bytes
per axis).
BUF_M1<1,0> - selects the operating mode of the sample buffer
BUF_M<1> BUF_M<0>
0
0
0
1
1
0
1
1
Mode
Description
Sample Threshold Operation
Specifies how many buffer
samples are needed to
FIFO
trigger a watermark
interrupt.
Specifies how many buffer
The buffer holds the last 384 bytes of data. Once
samples are needed to
Stream
the buffer is full, the oldest data is discarded to
trigger a watermark
make room for newer data.
interrupt.
When a trigger event occurs (logic high input on
Specifies how many buffer
TRIG pin), the buffer holds the last data set of
samples before the trigger
Trigger
SMP[6:0] samples before the trigger event and
event are retained in the
then continues to collect data until full. New data
buffer.
is collected only when the buffer is not full.
The buffer holds the last 384 bytes of data. Once Specifies how many buffer
the buffer is full, the oldest data is discarded to
samples are needed to
FILO
make room for newer data. Reading from the
trigger a watermark
buffer in this mode will return the most recent data
interrupt.
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The buffer collects 384 bytes of data until full,
collecting new data only when the buffer is not
full.
© 2015 Kionix – All Rights Reserved
Page 41 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
first.
BFI_EN controls the buffer full interrupt
BUF_FIE = 0 – the buffer full interrupt, BFI is disabled
BUF_FIE = 1 – the buffer full interrupt, BFI will be triggered when the buffer is full
BUF_(AX, AY, AZ, MX, MY, MZ, TEMP) controls the data to be buffered.
BUF_(AX, AY,AZ, MX, MY, MZ, TEMP) = 0 – indicated data is not buffered
BUF_(AX, AY,AZ, MX, MY, MZ, TEMP)= 1 – indicated data is buffered
BUF_CLEAR
Latched buffer status information and the entire sample buffer are cleared when any data is written to
this register.
Register
Addr
R/W
BUF_CLEAR
7Ah
W
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
OTF
BUFCLR<7>
BUFCLR<6>
BUFCLR<5>
BUFCLR<4>
BUFCLR<3>
BUFCLR<2>
BUFCLR<1>
BUFCLR<0>
Buffer status register 1,2
This register reports the status of the sample buffer.
Register
Addr
R/W
POR
BUF_STATUS_1
7Bh
R
00h
BUF_STATUS_2
7Ch
R
BUF_STATUS_3
7Dh
R
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
SMP_LEV<7>
SMP_LEV<6>
SMP_LEV<5>
SMP_LEV<4>
SMP_LEV<3>
SMP_LEV<2>
SMP_LEV<1>
SMP_LEV<0>
00h
SMP_PAST<5>
SMP_PAST<4>
SMP_PAST<3>
SMP_PAST<2>
SMP_PAST<1>
SMP_PAST<0>
BUF_TRIG
SMP_LEV<8>
00h
SMP_PAST<13> SMP_PAST<12> SMP_PAST<11> SMP_PAST<10>
SMP_PAST<9>
SMP_PAST<8>
SMP_PAST<7>
SMP_PAST<6>
SMP_LEV<8:0> Sample Level; reports the number of data bytes that have been stored in
the sample buffer. If this register reads 0, no data has been stored in the buffer. If the
buffer data is read past this level the part will return 32,767 (maximum value).
Buffered Outputs
1
2
3
4
5
6
7
Maximum sets
192
96
64
48
38
32
27
Maximum bytes
384
384
384
384
380
384
378
BUF_TRIG reports the status of the buffer’s trigger function if this mode has been selected.
When using trigger mode, a buffer read should only be performed after a trigger event.
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
SMP_PAST<8:0> Sample over flow; reports the number of data bytes that have been
missed since the sample buffer was filled. If this register reads 0, the buffer has not
over flowed. This is cleared for “BUF_CLEAR” command and when the data is read
from “BUF_READ”
BUF_READ
Data in the buffer can be read according to the BUF_M settings in BUF_CTRL2 by executing this
command. More samples can be retrieved by continuing to toggle SCL after the read command is
executed. Data should be read using auto-increment. Additional samples cannot be written to the
buffer while data is being read from the buffer using auto-increment mode. Output data is in 2’s
Complement format.
Register
Addr
R/W
BUF_READ
7Eh
R
POR
Wrt
Bit 7
Bit 6
Bit 5
Bit 4
Bit3
Bit 2
Bit 1
Bit 0
BUF<7>
BUF<6>
BUF<5>
BUF<4>
BUF<3>
BUF<2>
BUF<1>
BUF<0>
Sample Buffer Feature Description
The sample buffer feature of the ASIC_AO accumulates and outputs data based on how it is configured.
There are 4 buffer modes available. Data is collected at the highest ODR specified by OSMA:OSMD or
OSAA:OSAD in the Output Data Control Register. Each buffer mode accumulates data, reports data, and
interacts with status indicators in a slightly different way.
FIFO Mode
Data Accumulation
Sample collection stops when the buffer is full.
Data Reporting
Data is reported with the oldest byte of the oldest sample first (X_L or X based
on resolution).
Status Indicators
A watermark interrupt occurs when the number of samples in the buffer
reaches the Sample Threshold. The watermark interrupt stays active until the
buffer contains less than this number of samples. This can be accomplished
through clearing the buffer or reading greater than SMPX.
SMPX = SMP_LEV[8:0] – SMP_TH[8:0]
Equation 1. Samples Above Sample Threshold
Stream Mode
Data Accumulation
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Sample collection continues when the buffer is full; older data is discarded to
make room for newer data.
Data Reporting
Data is reported with the oldest sample first (uses FIFO read pointer).
Status Indicators
A watermark interrupt occurs when the number of samples in the buffer
reaches the Sample Threshold. The watermark interrupt stays active until the
buffer contains less than this number of samples. This can be accomplished
through clearing the buffer or explicitly reading greater than SMPX samples
(calculated with Equation 1).
Trigger Mode
Data Accumulation
When a logic high signal occurs on the TRIG pin, the trigger event is asserted
and SMP_TH[8:0] samples prior to the event are retained. Sample collection
continues until the buffer is full.
Data Reporting
Data is reported with the oldest sample first (uses FIFO read pointer).
Status Indicators
When a physical interrupt occurs and there are at least SMP_TH[8:0] samples in
the buffer, BUF_TRIG in BUF_STATUS_REG2 is asserted.
FILO Mode
Data Accumulation
Sample collection continues when the buffer is full; older data is discarded to
make room for newer data.
Data Reporting
Data is reported with the newest byte of the newest sample first (Z_H or Z based
on resolution).
Status Indicators
A watermark interrupt occurs when the number of samples in the buffer
reaches the Sample Threshold. The watermark interrupt stays active until the
buffer contains less than this number of samples. This can be accomplished
through clearing the buffer or explicitly reading greater than SMPX samples
(calculated with Equation 1).
Buffer Operation
The following diagrams illustrate the operation of the buffer conceptually. Actual physical
implementation has been abstracted to offer a simplified explanation of how the different buffer
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
modes operate. Regardless of the selected mode, the buffer fills sequentially, two-byte at a
time and one set_count number of bytes at the highest ODR. Figure 7(a) shows one 14-byte
data sample with all devices (accelerometer, temp sensor and magnetometer) enabled. Note
the location of the FILO read pointer versus that of the FIFO read pointer. Figure 7(b) shows
one 12-byte data sample with accelerometer and magnetometer enabled and temperature
sensor disabled. Figures 8-16 represent a 10-sample version of the buffer (for simplicity), with
Sample Threshold set to 8.
Note: When the BUF_CLEAR command is asserted, the buffer read pointer is moved to the
location of the buffer write pointer.
Note: If the buffer control states that a particular sensor’s data should be buffered, but that
sensor is not enabled, then all buffer entries for that sensor will be that sensor’s last ADC
conversion prior to it being disabled.
buffer write pointer (Sample Level) ---->
Index
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Byte
ACCEL X_L
ACCEL X_H
ACCEL Y_L
ACCEL Y_H
ACCEL Z_L
ACCEL Z_H
MAG X_L
MAG X_H
MAG Y_L
MAG Y_H
MAG Z_L
MAG Z_H
TEMP_L
TEMP_H
<---- FIFO read pointer
<---- FILO read pointer
Figure 7(a). One Buffer Sample with accelerometer, temperature sensor and magnetometer all enabled.
Index
0
1
2
3
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Byte
ACCEL X_L
ACCEL X_H
ACCEL Y_L
ACCEL Y_H
<---- FIFO read pointer
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Page 45 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
4
5
6
7
8
9
10
11
12
buffer write pointer (Sample Level) ---->
ACCEL Z_L
ACCEL Z_H
MAG X_L
MAG X_H
MAG Y_L
MAG Y_H
MAG Z_L
MAG Z_H
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
<---- FILO read pointer
Figure 7(b). One Buffer Sample with accelerometer and magnetometer enabled and temperature sensor
disabled.
Note in Figure 8 the location of the FILO read pointer versus that of the FIFO read pointer. The
buffer write pointer shows where the next sample will be written to the buffer.
buffer write pointer
(Sample Level) →
Index
Sample
0
Data0
1
Data1
2
Data2
← FIFO read pointer
← FILO read pointer
3
4
5
6
7
← Sample Threshold
8
9
Figure 8. Buffer Filling
The buffer continues to fill sequentially until the Sample Threshold is reached. Note in Figure 9
the location of the FILO read pointer versus that of the FIFO read pointer.
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
buffer write pointer →
Index
Sample
0
Data0
1
Data1
2
Data2
3
Data3
4
Data4
5
Data5
6
Data6
7
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
← FIFO read pointer
← FILO read pointer
← Sample Threshold
8
9
Figure 9. Buffer Approaching Sample Threshold
In FIFO, Stream, and FILO modes, a watermark interrupt is issued when the number of
samples in the buffer reaches the Sample Threshold. In trigger mode, this is the point where
the oldest data in the buffer is discarded to make room for newer data.
Index
0
1
2
3
4
5
6
7
buffer write pointer →
Sample
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
← FIFO read pointer
← Sample Threshold/FILO read pointer
8
9
Figure 10. Buffer at Sample Threshold
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
In trigger mode, data is accumulated in the buffer sequentially until the Sample Threshold is
reached. Once the Sample Threshold is reached, the oldest samples are discarded when new
samples are collected. Note in Figure 11 how Data0 was thrown out to make room for Data8.
Trigger write pointer →
Index
Sample
0
1
2
3
4
5
6
7
8
9
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
← Trigger read pointer
← Sample Threshold
Figure 11. Additional Data Prior to Trigger Event
After a trigger event occurs, the buffer no longer discards the oldest samples, and instead
begins accumulating samples sequentially until full. The buffer then stops collecting samples,
as seen in Figure 12. This results in the buffer holding SMP_TH[8:0] samples prior to the
trigger event, and SMPX samples after the trigger event.
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Index
0
1
2
3
4
5
6
Sample
Data1
Data2
Data3
Data4
Data5
Data6
Data7
7
8
9
Data8
Data9
Data10
← Trigger read pointer
← Sample Threshold
© 2015 Kionix – All Rights Reserved
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Figure 12. Additional Data After Trigger Event
In FIFO, Stream, FILO, and Trigger (after a trigger event has occurred) modes, the
buffer continues filling sequentially after the Sample Threshold is reached. Sample
accumulation after the buffer is full depends on the selected operation mode. FIFO and
Trigger modes stop accumulating samples when the buffer is full, and Stream and FILO
modes begin discarding the oldest data when new samples are accumulated.
Index
Sample
0
1
2
3
4
5
6
7
8
9
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
Data9
← FIFO read pointer
← Sample Threshold
← FILO read pointer
Figure 13. Buffer Full
After the buffer has been filled in FILO or Stream mode, the oldest samples are
discarded when new samples are collected. Note in Figure 14 how Data0 was thrown out to
make room for Data10.
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Index
0
1
2
3
4
5
6
Sample
Data1
Data2
Data3
Data4
Data5
Data6
Data7
7
8
9
Data8
Data9
Data10
← FIFO read pointer
← Sample Threshold
← FILO read pointer
© 2015 Kionix – All Rights Reserved
Page 49 of 51
Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Figure 14. Buffer Full – Additional Sample Accumulation in Stream or FILO Mode
In FIFO, Stream, or Trigger mode, reading one sample from the buffer will remove the
oldest sample and effectively shift the entire buffer contents up, as seen in Figure 15.
buffer write pointer →
Index
Sample
0
Data1
1
Data2
2
Data3
3
Data4
4
Data5
5
Data6
6
Data7
7
Data8
8
Data9
← FIFO read pointer
← Sample Threshold
← FILO read pointer
9
Figure 15. FIFO Read from Full Buffer
In FILO mode, reading one sample from the buffer will remove the newest
sample and leave the older samples untouched, as seen in Figure 16.
buffer write pointer →
Index
0
1
2
3
4
5
6
Sample
Data0
Data1
Data2
Data3
Data4
Data5
Data6
7
Data7
8
9
Data8
← FIFO read pointer
← Sample Threshold
← FILO read pointer
Figure 16. FILO Read from Full Buffer
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Digital 9-axis
Magnetometer / Accelerometer /
Micro-Amp Magnetic Gyro
Specifications
PART NUMBER:
KMX62G-1033
Rev. 1.0
May 2015
Revision History
REVISION
1.0
DESCRIPTION
Initial Release
DATE
29 May 2015
"Kionix" is a registered trademark of Kionix, Inc. Products described herein are protected by patents issued or pending. No license is granted by implication or otherwise
under any patent or other rights of Kionix. The information contained herein is believed to be accurate and reliable but is not guaranteed. Kionix does not assume
responsibility for its use or distribution. Kionix also reserves the right to change product specifications or discontinue this product at any time without prior notice. This
publication supersedes and replaces all information previously supplied.
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