Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Product Description KXG03 is a 6 Degrees-of-Freedom inertial sensor system that features digital outputs accessed through I2C or SPI communication. The KXG03 sensor consists of a tri-axial micro machined gyroscope plus a tri-axial accelerometer and an ASIC packaged in a 3x3x0.9mm 16pin Land Grid Array (LGA) package. The ASIC is realized in standard CMOS technology and features flexible user programmable gyroscope full scale ranges of ±256, ±512, ±1024, and ±2048°/sec and user-programmable ±2g/±4g/±8g/±16g full scale range for the accelerometer. An auxiliary I2C master serial interface exists for communication to up to 2 other sensors to access data that can be 16pin 3x3x0.9mm LGA bottom view accumulated in an internal 1024 byte FIFO buffer and transmitted to the application processor. In addition, the KXG03 has an embedded temperature sensor. During operation, the gyroscope sensor elements are forced into vibration. When angular velocities are applied about the sensing axes, vibration is transferred to sensing elements, causing capacitance changes at the sensor electrodes. Acceleration sensing is based on the principle of a differential capacitance arising from acceleration-induced 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. The DSP also feeds back the driving signal to ensure the proper sensor excitation. The KXG03 series is designed to strike a balance between current consumption and noise performance with excellent bias stability over temperature. These sensors can accept supply and digital communication voltages between 1.8V and 3.3V. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 1 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Features 3 x 3 x 0.9 mm LGA User-selectable low power or high resolution mode User selectable gyroscope full scale ranges of: ±256 deg/s ±512 deg/s ±1024 deg/s ±2048 deg/s User selectable accelerometer full scale rages of: ±2g ±4g ±8g ±16g Temperature sensor with min measurement range of -40 C to +85 C with 16 bit output User-selectable Output Data Rate (ODR) up to 51200Hz 1024 byte FIFO buffer Wake-up and Back-to-sleep functions Auxiliary I2C master interface to control up to 2 auxiliary sensors Independent Output Data Rate (ODR) : Over Sampling Rate (OSR) control for accelerometer User-configurable wake-up function Digital I2C up to 3.4MHz Digital SPI up to 10MHz Lead-free Solderability Excellent Temperature Performance High Shock Survivability Factory Programmed Offset and Sensitivity Self-test Function 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 2 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Table of Contents PRODUCT DESCRIPTION ....................................................................................................................................................................1 FEATURES .........................................................................................................................................................................................2 FUNCTIONAL DIAGRAM ....................................................................................................................................................................7 PRODUCT SPECIFICATIONS................................................................................................................................................................8 GYROSCOPE MECHANICAL ............................................................................................................................................................................ 8 ACCELEROMETER MECHANICAL ..................................................................................................................................................................... 9 TEMPERATURE SENSOR ................................................................................................................................................................................ 9 ELECTRICAL.............................................................................................................................................................................................. 10 Accelerometer Start-up time versus ODR profile: ............................................................................................................................ 11 Accelerometer Low Power Mode Current versus ODR profile: ......................................................................................................... 11 Power-On Procedure ........................................................................................................................................................................ 12 ENVIRONMENTAL ..................................................................................................................................................................................... 14 SOLDERING.............................................................................................................................................................................................. 14 APPLICATION SCHEMATIC ........................................................................................................................................................................... 15 PIN DESCRIPTIONS .................................................................................................................................................................................... 16 PACKAGE DIMENSIONS AND ORIENTATION: ................................................................................................................................................... 17 Dimensions ....................................................................................................................................................................................... 17 Orientation ....................................................................................................................................................................................... 18 DIGITAL INTERFACE ......................................................................................................................................................................... 19 I2C SERIAL INTERFACE................................................................................................................................................................................ 19 I2C Operation .................................................................................................................................................................................... 20 Writing to 8-bit Register................................................................................................................................................................... 21 Reading from 8-bit Register ............................................................................................................................................................. 21 Data Transfer Sequences.................................................................................................................................................................. 22 HS-mode ........................................................................................................................................................................................... 23 I2C Timing Diagram .......................................................................................................................................................................... 24 I2C Timing Specifications (Fast Mode) .............................................................................................................................................. 24 Auxiliary I2C Operation ..................................................................................................................................................................... 25 Auxiliary I2C Host Mode .................................................................................................................................................................... 25 Auxiliary I2C Bypass Mode ................................................................................................................................................................ 25 Internal Pull-up Resistor ................................................................................................................................................................... 25 SPI COMMUNICATIONS ............................................................................................................................................................................. 26 4-Wire SPI Interface ......................................................................................................................................................................... 26 4-Wire SPI Timing Diagram .............................................................................................................................................................. 27 4-Wire Read and Write Registers ..................................................................................................................................................... 28 POWER MODES ............................................................................................................................................................................... 29 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 3 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 OFF MODE .............................................................................................................................................................................................. 29 INITIAL STARTUP ....................................................................................................................................................................................... 29 STAND-BY MODE ...................................................................................................................................................................................... 30 ACTIVE WUF MODE.................................................................................................................................................................................. 30 ACTIVE WAKE AND SLEEP MODE .................................................................................................................................................................. 30 EMBEDDED WAKE-UP AND BACK-TO-SLEEP FUNCTION .................................................................................................................. 31 EMBEDDED REGISTERS.................................................................................................................................................................... 32 GYROSCOPE OUTPUTS ............................................................................................................................................................................... 33 ACCELEROMETER OUTPUTS ........................................................................................................................................................................ 33 TEMPERATURE SENSOR OUTPUTS ................................................................................................................................................................ 34 REGISTER DESCRIPTIONS................................................................................................................................................................. 35 TEMP_OUT........................................................................................................................................................................................... 35 GYRO_XOUT......................................................................................................................................................................................... 35 GYRO_YOUT ......................................................................................................................................................................................... 35 GYRO_ZOUT ......................................................................................................................................................................................... 35 ACCEL_XOUT ........................................................................................................................................................................................ 36 ACCEL_YOUT ........................................................................................................................................................................................ 36 ACCEL_ZOUT ........................................................................................................................................................................................ 36 AUX1_OUT ........................................................................................................................................................................................... 36 AUX2_OUT ........................................................................................................................................................................................... 37 WAKE_CNT........................................................................................................................................................................................... 37 SLEEP_CNT ........................................................................................................................................................................................... 37 BUF_SMPLEV ....................................................................................................................................................................................... 38 BUF_PAST ............................................................................................................................................................................................ 38 AUX_STATUS ........................................................................................................................................................................................ 38 WHO_AM_I .......................................................................................................................................................................................... 40 SN......................................................................................................................................................................................................... 40 STATUS1............................................................................................................................................................................................... 40 INT1_SRC1 ........................................................................................................................................................................................... 42 INT1_SRC2 ........................................................................................................................................................................................... 43 INT1_L .................................................................................................................................................................................................. 44 STATUS2............................................................................................................................................................................................... 44 INT2_SRC1 ........................................................................................................................................................................................... 45 INT2_SRC2 ........................................................................................................................................................................................... 47 INT2_L .................................................................................................................................................................................................. 48 ACCEL_ODR_WAKE .............................................................................................................................................................................. 48 ACCEL_ODR_SLEEP .............................................................................................................................................................................. 49 ACCEL_CTL ........................................................................................................................................................................................... 51 GYRO_ODR_WAKE ............................................................................................................................................................................... 51 GYRO_ODR_SLEEP ............................................................................................................................................................................... 53 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 4 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 STDBY ................................................................................................................................................................................................... 55 CTL_REG_1 ........................................................................................................................................................................................... 56 INT_PIN_CTL ........................................................................................................................................................................................ 57 INT_PIN1_SEL ...................................................................................................................................................................................... 58 INT_PIN2_SEL ...................................................................................................................................................................................... 59 INT_MASK1 .......................................................................................................................................................................................... 60 INT_MASK2 .......................................................................................................................................................................................... 61 FSYNC_CTL ........................................................................................................................................................................................... 61 WAKE_SLEEP_CTL1 .............................................................................................................................................................................. 62 WAKE_SLEEP_CTL2 .............................................................................................................................................................................. 63 WUF_TH ............................................................................................................................................................................................... 64 WUF_COUNTER ................................................................................................................................................................................... 64 BTS_TH ................................................................................................................................................................................................. 64 BTS_COUNTER ..................................................................................................................................................................................... 64 AUX_I2C_CTRL_REG............................................................................................................................................................................. 65 AUX_I2C_SAD1 .................................................................................................................................................................................... 66 AUX_I2C_REG1 .................................................................................................................................................................................... 66 AUX_I2C_CTL1 ..................................................................................................................................................................................... 66 AUX_I2C_BIT1 ...................................................................................................................................................................................... 66 AUX_I2C_ODR1_W .............................................................................................................................................................................. 67 AUX_I2C_ODR1_S ................................................................................................................................................................................ 68 AUX_I2C_SAD2 .................................................................................................................................................................................... 68 AUX_I2C_REG2 .................................................................................................................................................................................... 69 AUX_I2C_CTL2 ..................................................................................................................................................................................... 69 AUX_I2C_BIT2 ...................................................................................................................................................................................... 69 AUX_I2C_ODR2_W .............................................................................................................................................................................. 69 AUX_I2C_ODR2_S ................................................................................................................................................................................ 71 BUF_WMITH_L .................................................................................................................................................................................... 71 BUF_WMITH_H .................................................................................................................................................................................... 72 BUF_TRIGTH_L ..................................................................................................................................................................................... 72 BUF_TRIGTH_H .................................................................................................................................................................................... 72 BUF_CTL2 ............................................................................................................................................................................................. 73 BUF_CTL3 ............................................................................................................................................................................................. 73 BUF_CTL4 ............................................................................................................................................................................................. 74 BUF_EN ................................................................................................................................................................................................ 74 BUF_STATUS ........................................................................................................................................................................................ 76 BUF_CLEAR .......................................................................................................................................................................................... 76 BUF_READ ............................................................................................................................................................................................ 76 SAMPLE BUFFER FEATURE DESCRIPTION ........................................................................................................................................ 77 FIFO MODE ............................................................................................................................................................................................ 77 STREAM MODE ........................................................................................................................................................................................ 77 TRIGGER MODE ....................................................................................................................................................................................... 78 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 5 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 FILO MODE ............................................................................................................................................................................................ 78 BUFFER OPERATION .................................................................................................................................................................................. 78 NOTICE............................................................................................................................................................................................ 84 PRECAUTION ON USING KIONIX PRODUCTS .................................................................................................................................................. 84 PRECAUTION FOR MOUNTING / CIRCUIT BOARD DESIGN................................................................................................................................... 85 PRECAUTIONS REGARDING APPLICATION EXAMPLES AND EXTERNAL CIRCUITS ...................................................................................................... 85 PRECAUTION FOR ELECTROSTATIC ................................................................................................................................................................ 85 PRECAUTION FOR STORAGE / TRANSPORTATION ............................................................................................................................................. 85 PRECAUTION FOR PRODUCT LABEL ............................................................................................................................................................... 86 PRECAUTION FOR DISPOSITION.................................................................................................................................................................... 86 PRECAUTION FOR FOREIGN EXCHANGE AND FOREIGN TRADE ACT....................................................................................................................... 86 PRECAUTION REGARDING INTELLECTUAL PROPERTY RIGHTS .............................................................................................................................. 86 OTHER PRECAUTION ................................................................................................................................................................................. 86 GENERAL PRECAUTION .............................................................................................................................................................................. 86 REVISION HISTORY .......................................................................................................................................................................... 87 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 6 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Functional Diagram 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 7 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Product Specifications Gyroscope Mechanical (Specifications are for operation at VDD = 2.5V and T = 25°C unless stated otherwise) Parameters Units Min Typical Operating Temperature Range Zero Rate Output, Digital Zero Rate Output Stability Zero Rate Output Variation over Temperature °C counts ± % of FS ± dps / °C -40 RSEL1 = 0, RSEL0 = 0, ±256 deg/sec Sensitivity RSEL1 = 0, RSEL0 = 1, ±512 deg/sec (16-bit) 1 RSEL1 = 1, RSEL0 = 0, ±1024 deg/sec counts/deg/sec RSEL1 = 1, RSEL0 = 1, ±2048 deg/sec Sensitivity Variation over Temperature Noise Density Output Noise (10 Hz BW) Non-Linearity Cross Axis Sensitivity Bandwidth 2 ± % / °C deg/sec/√Hz dps-rms % of FS ±% Hz 10 0 1 0.4 128 64 32 16 0.04 0.03 0.096 0.5 1 Max 85 160 Table 1: Gyroscope Mechanical Specifications Notes: 1. Resolution and rotation rate ranges are user selectable. 2. User selectable via control register. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 8 of 87 Kionix Confidential PART NUMBER: Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications KXG03 Rev. 0.19 11-Feb-16 Accelerometer Mechanical (Specifications are for operation at VDD = 2.5V and T = 25°C unless stated otherwise) Parameters Units Min Typical Max Operating Temperature Range °C -40 - 85 Zero-g Offset mg - ±25 ±125 15565 16384 1703 7782 8192 8602 3891 4096 4301 2048 2150 Zero-g Offset Variation from RT over Temp. ± mg/ °C GSEL1=1, GSEL0=1 (± 2g) Sensitivity (16-bit)1 GSEL1=0, GSEL0=0 (± 4g) GSEL1=0, GSEL0=1 (± 8g) counts/g GSEL1=1, GSEL0=0 (± 16g) Sensitivity Variation from RT over Temp. Self-Test Output Mechanical Resonance (-3dB)2 Non-Linearity Cross Axis Sensitivity Noise Density Bandwidth (-3dB)3 0.25 1946 ± % / °C 0.01 (xy) 0.03 (z) g 0.5 Hz 3500 (xy) 1800 (z) % of FS 0.5 % 2 g / Hz 150 Hz ODR/2 Table 2: Accelerometer Mechanical Specifications Notes: 1. Resolution and acceleration ranges are user selectable. 2. Resonance as defined by the dampened mechanical sensor. 3. User selectable via control register. Temperature Sensor (Specifications are for operation at VDD = 2.5V and T = 25 °C unless stated otherwise) Parameters Units Min Typical Operating Temperature Range Output Accuracy Sensitivity (16-bit digital) °C ± °C counts/ °C -40 1 128 Max 85 Table 3: Temperature Sensor Specifications 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 9 of 87 Kionix Confidential PART NUMBER: Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications KXG03 Rev. 0.19 11-Feb-16 Electrical (Specifications are for operation at VDD = 2.5V and T = 25 °C unless stated otherwise) Parameters Units Min Typical V 1.8 2.5 Supply Voltage (VDD) Operating I/O Pads Supply Voltage (IO_VDD) Operating (gyroscope + accelerometer) Gyroscope only Accelerometer only Current Consumption High Res Mode Accelerometer only Low Power Mode 6 Standby V 3.3 VDD 1.7 mA 2.1 mA 1.85 µA 300 µA 5 µA Max 1.5 Output Low Voltage1 (VOL) V - - 0.3 * IO_VDD Output High Voltage (VOH) V 0.9 * IO_VDD - - Input Low Voltage (VIL) V - - 0.2 * IO_VDD Input High Voltage(VIH) V 0.8 * IO_VDD - - Turn on Time (Power on Reset Sensor Start-Up Time3 2 I C Communication Rate Time)2 msec msec 80 Accelerometer (100Hz) msec 20 4,5 MHz I2C Address SPI communication Rate 50 Gyroscope 3.4 4Eh / 4Fh MHz 10 Table 4: Electrical Specifications Notes: 1. Assuming I2C communication and minimum 1.5kΩ pull-up resistor on SCL and SDA. 2. From OFF to Standby mode after VDD and IO_VDD are valid 3. Time from sensor standby mode to operating mode (GYRO_RUN = 1). Accelerometer time varies with accelerometer Output Data Rate (ODR) per table below. 4. Assuming max bus capacitance load of 20pF. 5. The I2C bus supports Standard-Mode, Fast-Mode and High Speed Mode. 6. Accelerometer only in Low Power Mode current varies with accelerometer Output Data Rate (ODR) and Output Wake-up Function (OWUF) per table below. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 10 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Accelerometer Start-up time versus ODR profile: Start Up Time over ODR 1400 1278 1200 Time(ms) 1000 800 640 600 321 400 162 200 82 41 23 13 6.2 4.5 2.6 2.3 2.3 2.3 2.3 2.3 0 0.1 1 10 100 1000 10000 100000 ODR (Hz) Accelerometer Low Power Mode Current versus ODR profile: Current over ODR 350.0 286 Current (uA) 300.0 0.1 309 306 306 306 306 219 250.0 200.0 150.0 111 100.0 50.0 2.1 2.1 2.1 5.3 8.6 0.0 1 10 55 15 29 100 1000 10000 100000 1000000 Accelerometer ODR 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 11 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 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 customer specified range of VDD, VDDLow, TVDD, TVDD_Off and temperature as POR performance can vary depending on these parameters TVDD VDD TVDD_Off 90% VDDLow 10% GND TIO_VDD IO_VDD 90% IO_VDDLow GND 10% TIO_VDD_Off Figure 1: POR Procedure Timing Diagram Bench Testing has demonstrated POR performance regions for a proper POR trigger. To assure POR trigger properly executes, setting operational thresholds consistent with the Table 5 below is suggested. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 12 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 POR Performance VDD rise time : TVDD Parameters Units msec Min IO_VDD rise time : TIO_VDD msec VDD off time : TVDD_Off msec 20 IO_VDD off time : TIO_VDD_Off msec 20 Typical Max 5 5 VDD low voltage : VDDLow mV 200 IO_VDD low voltage : IO_VDDLow:: mV 200 Table 5: POR Performance Specifications Notes: 1. 2. 3. 4. VDD and IO_VDD must always be monotonic ramps without ambiguous state TVDD and TIO_VDD rise from 10% to 90% of final value needs to be ≤ 5ms. IO_VDD amplitude must remain ≤ VDD amplitude. In order to prevent the accelerometer from entering an ambiguous state, both VDD and IO_VDD need to be pulled down to GND (≤ 200mV) for a duration of time ≥ 20ms. 5. It is important the user determines the timing (TVDD_Off) and threshold (VDDLow) levels by evaluating the performance in the specific system for which the device will be incorporated. The data provided by Kionix is intended for initial customer design guidance only. Kionix POR testing looks at a finite number of test configurations. Each customer application will have varying input sensor parameters (electrical, mechanical, and environmental) that will be different than the configurations tested by Kionix. Each customer utilizing the sensor will need to properly validate the sensor (including POR function) within their application under their specific use cases to ensure it responds as required. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 13 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Environmental Units Min Typical Max Supply Voltage (VDD) Absolute Limits Parameters V -0.3 - 3.6 Operating Temperature Range Storage Temperature Range °C °C -40 -55 - Mech. Shock (powered and unpowered) g - - ESD V - - 85 150 5000 for 0.5 msec 10000 for 0.2 msec 2000 HBM Table 6: Environmental Specifications Caution: ESD Sensitive and Mechanical Shock Sensitive Component, improper handling can cause permanent damage to the device. These products conform to RoHS Directive 2011/65/EU of the European Parliament and of the Council of the European Union that was issued June 8, 2011. Specifically, these products do not contain any non-exempted amounts of 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”. The MCV for lead, mercury, hexavalent chromium, PBB, and PBDE is 0.10%. The MCV for cadmium is 0.010%. Applicable Exemption: 7C-I - Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors (piezoelectronic devices) or in a glass or ceramic matrix compound. These products are also in conformance with REACH Regulation No 1907/2006 of the European Parliament and of the Council that was issued Dec. 30, 2011. They do not contain any Substances of Very High Concern (SVHC-161) as identified by the European Chemicals Agency as of 17 December 2014. 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. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 14 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Application Schematic ID Stress Value Rating Type C1 3V 0.1 µF 16 V Y5V C2 3V 0.1 µF 16 V Y5V C3 20 V 2.2 nF 50 V Y5V 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 15 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Pin Descriptions Pin 1 2 3 4 5 6 7 Name IO_VDD AUX_CL AUX_DA SCLK_SCL RESERVED MOSI_SDA MISO_ADDR 8 nCS 9 INT2 10 SYNC 11 12 13 14 15 16 INT1 GND TRIG VDD CPOUT RESERVED Description External supply for IO ring. Connect bypass capacitor C2 Auxiliary I2C master serial clock Auxiliary I2C master serial data SPI/I2C serial clock1 Connect to GND or leave floating. Do not connect to IO_VDD. SPI MOSI / I2C serial data2 SPI MISO / I2C slave_addr[0] SPI enable / I2C mode select (0=SPI enabled, I2C communication disabled / 1=SPI disabled, I2C communication enabled) Programmable interrupt output Sync input or output. If configured as input, connect to IO_VDD or GND. If configured as output, leave floating3. Programmable interrupt output Ground External trigger input for buffer actions. Connect to IO_VDD or GND if unused. External supply with bypass capacitor C1 External charge pump reservoir cap C3 Connect to GND or leave floating Table 7: Pin Descriptions Notes: 1, 2 For I2C communication, connect an external IO_VDD pull-up resistors on SCL (pin 4) and SDA (pin 6). The value of the pull up resistors should be 1.5kΩ or above to ensure a VOL that is less than the maximum specified value. 3 Care must be taken with external connection of the SYNC pin. The reset state of the SYNC pin is tristated. If pin is not used in application, connect to IO_VDD or GND and ensure the state of the pin is never changed to output through register write to FSYNC_CTL register. If pin is configured as Output in the application, the pin must be left floating to avoid internal short circuit to IO_VDD or GND. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 16 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Package Dimensions and Orientation: Dimensions 3 x 3 x 0.9 mm LGA Dimensions Figure 2: Package Dimensions 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 17 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Orientation When the device is accelerated or rotated in +X, +Y, or +Z direction, the corresponding output will increase. +Z +X +Y Figure 3: Device Orientation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 18 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Digital Interface The Kionix KXG03 digital sensor has the ability to communicate via the I2C and SPI digital serial interface protocols. This allows for easy system integration by eliminating analog-to-digital converter requirements and by providing direct communication with system micro-controllers. The serial interface terms and descriptions as indicated in the table 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 8: Serial Interface Terminologies I2C Serial Interface As previously mentioned, the KXG03 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 Master, typically a micro controller, provides the serial clock signal and addresses Slave devices on the bus. The KXG03 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. The I2C interface is compliant with high-speed mode, fast mode and standard mode I2C protocols. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 19 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Figure 4: Multiple KXG03 I2C Connection Description I2C Wr I2C Rd I2C Wr I2C Rd Address 7 bit Pad Address Address <7> <6> <5> <4> <3> <2> <1> <0> IO_VDD 4Fh 9Eh 1 0 0 1 1 1 1 0 IO_VDD 4Fh 9Fh 1 0 0 1 1 1 1 1 GND 4Eh 9Ch 1 0 0 1 1 1 0 0 GND 4Eh 9Dh 1 0 0 1 1 1 0 1 Table 9: I2C Slave Addresses for KXG03 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 KXG03’s Slave Address is comprised of a programmable part and a fixed part, which allows for connection of multiple KXG03's to the same I2C bus. The Slave Address associated with the KXG03 is 100111X, where the programmable bit X is determined by the assignment of ADDR (pin 7) to GND or IO_VDD. The Figure 4 shows how two KXG03's would be implemented on an I2C bus. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 20 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 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 KXG03 is accessed through I2C protocol before the startup is finished a NACK signal is sent. Writing to 8-bit Register Upon power up, the Master must write to the KXG03’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 KXG03 ACK has been returned, an 8-bit Register Address (RA) command is transmitted by the Master. This command is telling the KXG03 to which 8-bit register the Master will be writing the data. Since this is I2C mode, the MSB of the RA command should always be zero (0). The KXG03 acknowledges the RA and the Master transmits the data to be stored in the 8-bit register. The KXG03 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 KXG03 is now stored in the appropriate register. The KXG03 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. Note** If a STOP condition is sent on the least significant bit of write data or the following master acknowledge cycle, the last write operation is not guaranteed and it may alter the content of the affected registers. Reading from 8-bit Register When reading data from a KXG03 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 KXG03 acknowledges and the Master transmits the 8-bit RA of the register it wants to read. The KXG03 again acknowledges, and the Master transmits a repeated start condition (Sr). After the repeated start condition, the Master addresses the KXG03 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 KXG03 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 below. Reading data from a buffer read register is a special case because if register address (RA) is set to buffer read register (BUF_READ) in Sequence 4, the register auto-increment feature is automatically disabled. Instead, the Read Pointer will increment to the next data in the buffer, thus allowing reading multiple bytes of data from the buffer using a single SAD+R command. Note, accelerometer’s and/or gyroscope’s output data should be read in a single transaction using the auto-increment feature to prevent output data from being updated prior to intended completion of the read transaction. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 21 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Data Transfer Sequences The following information clearly illustrates the variety of data transfers that can occur on the I2C bus and how the Master and Slave interact during these transfers. The table below 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 Table 10: I2C 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 RA ACK Sr ACK SAD + R ACK ACK 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] DATA NACK DATA © 2016 Kionix – All Rights Reserved Page 22 of 87 Kionix Confidential P PART NUMBER: Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications KXG03 Rev. 0.19 11-Feb-16 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 multiple bytes to the Slave. Speed Master Slave S FS-mode M-code NACK Sr SAD + W ACK HS-mode RA ACK FS-mode DATA P ACK n bytes + ack. Sequence 6: HS-mode data transfer of the Master receiving multiple bytes of data from the Slave. Speed Master Slave S Speed Master Slave Sr FS-mode M-code NACK Sr HS-mode SAD + W RA ACK ACK FS-mode HS-mode SAD + R NACK ACK DATA ACK P DATA (n-1) bytes + ack. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 23 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 I2C Timing Diagram I2C Timing Specifications (Fast Mode) Number Description MIN MAX Units t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 Note 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) 50 100 - ns ns ns ns ns ns ns ns ns ns ns ns us Recommended I2C CLK 100 100 100 50 100 50 25 50 50 0 2.5 Table 11: I2C Timing Specifications (Fast Mode) 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 24 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Auxiliary I2C Operation The KXG03 has an auxiliary I2C bus for communicating to external I2C-supported sensors. This bus has an I2C Host Mode where the KXG03 acts as a host to external sensors, and a Bypass Mode where the KXG03 directly connects the primary and auxiliary I2C buses together. This allows the system processor to directly communicate with the external sensors. Maximum data rate for this bus is 400KHz Fast Mode. With the auxiliary I2C enabled the AUX_CL pin operates as an output-only pin. The auxiliary I2C hence does not support clock stretching and KXG03 should not be mated with external devices using clock stretching Auxiliary I2C Host Mode This mode allows the KXG03 to directly access the data registers of any external sensors connected to the auxiliary I2C bus. In this mode, the KXG03 directly obtains data from the auxiliary sensors and packages them with its own sensor data inside the internal FIFO buffer. In Host Mode the KXG03 is easily configured to read up to six successive registers from up to two different auxiliary devices. The user simply configures KXG03 control registers with up to two different I2C SAD’s, starting register addresses and the number of bytes to be read back via auto-increment. Auxiliary I2C Bypass Mode This mode allows an external processor to act as host and directly communicate to the auxiliary devices. This allows the host to initialize the auxiliary sensors for operation, or to access them directly while the KXG03 is disabled. The AUX_CL and AUX_DA pins can be operated in bypass mode shorted to SCLK_SCL and the MOSI_SDA pins, respectively. When operated in bypass mode the connection to the main I2C pins is broken while nCS is low (i.e. while the main interface is operating in SPI mode). Internal Pull-up Resistor The auxiliary I2C interface can be operated with external or internal pull up devices. Internal pull up devices are automatically disabled in bypass mode to prevent pulling up the main I2C /SPI interface. The KXG03 AUX_CL pin is driven by as a rail-to-rail (push-pull) CMOS output. The AUX_CL pin hence does not require external (or internal) pull ups. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 25 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 SPI Communications Special Note: The KXG03 has an I2C-disable bit I2C_DIS in CTL_REG_1 that defaults to 0 (I2C enabled) on power up or when exiting reset. The state of this bit can only be changed via SPI communications. For applications using SPI on a shared bus (multiple slave devices on a single nCS line) I2C_DIS should be set 1. Applications using a SPI interface on a dedicated bus (nCS connects only to KXG03 and not to any other slave devices) can function with I2C_DIS set to 0 or 1. For applications using I2C interface I2C_DIS should be set 0. 4-Wire SPI Interface The KXG03 also utilizes an integrated 4-Wire Serial Peripheral Interface (SPI) for digital communication. The SPI interface is primarily used for synchronous serial communication between one Master device and one or more Slave devices. The Master, typically a micro controller, provides the SPI clock signal (SCLK) and determines the state of Chip Select (nCS). The KXG03 always operates as a Slave device during standard Master-Slave SPI operation. 4-wire SPI is a synchronous serial interface that uses two control and two data lines. With respect to the Master, the Serial Clock output (SCLK), the Data Output (SDI or MOSI) and the Data Input (SDO or MISO) are shared among the Slave devices. The Master generates an independent Chip Select (nCS) for each Slave device that goes low at the start of transmission and goes back high at the end. The Slave Data Output (SDO) line, remains in a high-impedance (hi-z) state when the device is not selected, so it does not interfere with any active devices. This allows multiple Slave devices to share a master SPI port as shown in the figure below. Figure 5: 4-wire SPI Connections 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 26 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 4-Wire SPI Timing Diagram t3 t t1 t2 t4 nCS CLK SDI bit 7 bit 6 bit 1 5 bit 0 SDO bit 7 5 t5 t6 Number t1 t2 t3 t4 t5 t6 t7 bit 7 5 bit 6 bit 6 bit 1 5 bit 1 5 bit 0 bit 0 t7 Description CLK pulse width: high CLK pulse width: low nCS low to first CLK rising edge nCS low after the final CLK rising edge SDI valid to CLK rising edge CLK rising edge to SDI invalid CLK falling edge to SDO valid MIN MAX 40 40 20 30 10 10 35 Units ns ns ns ns ns ns ns Table 12: 4-Wire SPI Timing Notes: 1. t7 is only present during reads. 2. Timings are for VDD of 1.8V to 3.6V with 1K pull-up resistor and maximum 20pF load capacitor on SDO. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 27 of 87 Kionix Confidential PART NUMBER: Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications KXG03 Rev. 0.19 11-Feb-16 4-Wire Read and Write Registers The registers embedded in the KXG03 have 8-bit addresses. Upon power up, the Master must write to the sensor’s control registers to set its operational mode. On the falling edge of nCS, a 2-byte command is written to the appropriate control register. The first byte initiates the write to the appropriate register, and is followed by the user-defined, data byte. The MSB (Most Significant Bit) of the register address byte will indicate “0” when writing to the register and “1” when reading from the register. This operation occurs over 16 clock cycles. All commands are sent MSB first. The host must return nCS high for at least one clock cycle before the next data request. However, when data is being read from a buffer read register (BUF_READ), the nCS signal can remain low until the buffer is read. The Figure 6 shows the timing diagram for carrying out an 8-bit register write operation. Write Address First 8 bits Second 8 bits Last 8 bits CLK SDI SDO A7 A6 A5 A4 A3 A2 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 D5 D2 D1 D0 HI-Z HI-Z CS Figure 6: Timing Diagram for 8-Bit Register Write Operation In order to read an 8-bit register, an 8-bit register address must be written to the sensor to initiate the read. The MSB of this register address byte will indicate “0” when writing to the register and “1” when reading from the register. Upon receiving the address, the sensor returns the 8-bit data stored in the addressed register. This operation also occurs over 16 clock cycles. All returned data is sent MSB first, and the host must return nCS high for at least one clock cycle before the next data request. The Figure 7 shows the timing diagram for an 8-bit register read operation. Read Address First 8 bits Second 8 bits Last 8 bits CLK SDI SDO A7 A6 A5 A4 A3 A2 A1 A0 HI-Z D7 D6 D5 D4 D3 D2 D1 D0 D7 D6 D5 D3 D2 D1 D0 HI-Z CS Figure 7: Timing Diagram for 8-Bit Register Read Operation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 28 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Power Modes The KXG03 has three power modes: Off, Stand-by, and Active. The part exists in one of these three modes at any given time. Off and Stand-by modes have very low current consumptions. Power Mode Off Off Off Stand-by Bus State Active IO_VDD OFF ON OFF ON VDD OFF OFF ON ON Active - WUF Active ON ON Active Active ON ON Function No sensor activity No sensor activity No sensor activity Waiting activation command Accelerometer active looking for motion Wake-up All functionalities available Outputs Not available Not available Not available Not available Accelerometer registers, buffer, and DRDY All sensors available Off mode One or both of the power supplies (VDD or IO_VDD) 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 IO_VDD 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. IO_VDD supply is valid 2. VDD power supply is going to valid level OR 1. IO_VDD 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. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 29 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 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 Standby 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. Active WUF mode While in Active WUF mode, the accelerometer is periodically taking a measurement to detect if there is any motion. Data in the accelerometer registers is being updated and can be sent to the buffer, and data ready interrupt can be reported. Active Wake and Sleep mode Stand-by-mode can be changed to Active mode by writing to register STBY_REG or by use of the WUF. Active mode engages the full functionality of accelerometer and/or gyroscope measurements in two possible configurations, one is named Wake the other Sleep. The user can select separate configurations for each mode such as ODR, BW, FS-range and even Standby bits for each mode. For example, the user could enable all sensors in Wake state and only the Aux sensor in Sleep state. Or the user could enable the accelerometer in low power mode during Wake state and both the gyroscope and accelerometer in sleep state The WUF and BTS functions can be used to automatically switch between the two modes based on measured accelerometer activity. The user can select which functions and sensors are enabled for each mode. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 30 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Embedded Wake-up and Back-to-Sleep Function The KXG03 contains an interrupt engine that can be configured by the user to report when qualified changes detected by the acceleration occur, using the accelerometer. The user has the option to enable or disable specific accelerometer axes and specific directions, as well as to specify the delay time. An example use case for the engine would be to detect motion on any axis to signal an event and wake up or put back to sleep the KXG03 or other devices. For Wake-up (WUF), this can be achieved by configuring the engine to detect when the acceleration on any axis is greater than the user-defined threshold for a user-defined amount of time. For Back-To-Sleep (BTS), this can be achieved by configuring the engine to detect when the acceleration on any axis is less than the user-defined threshold for a user-defined amount of time. The KXG03 will change modes when the WUF or BTS functions trigger. The user can manually force the KXG03 into Wake or Sleep modes using the MAN_WAKE and MAN_SLEEP bits. The equations below show how to calculate the engine threshold and delay time register values for the desired result. Wake-up Threshold (counts) = Desired Threshold (g) x 16 (counts/g) Equation 1: Wake-up Threshold Back-To-Sleep Threshold (counts) = Desired Threshold (g) x 16 (counts/g) Equation 2: Back-To-Sleep Threshold Back-To-Sleep Threshold (counts) = Desired Delay Time (sec) x OWUF (Hz) Equation 3: Wake-up Delay Time Back-To-Sleep Delay Time (counts) = Desired Delay Time (sec) x OSA (Hz) Equation 4: Back-To-Sleep Delay Time 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 31 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Embedded Registers The KXG03 has 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. The table below provides a listing of the accessible 8-bit registers and their addresses. Register Name TEMP_OUT_L TEMP_OUT_H GYRO_XOUT_L GYRO_XOUT_H GYRO_YOUT_L GYRO_YOUT_H GYRO_ZOUT_L GYRO_ZOUT_H ACC_XOUT_L ACC_XOUT_H ACC_YOUT_L ACC_YOUT_H ACC_ZOUT_L ACC_ZOUT_H AUX1_OUT1 AUX1_OUT2 AUX1_OUT3 AUX1_OUT4 AUX1_OUT5 AUX1_OUT6 AUX2_OUT1 AUX2_OUT2 AUX2_OUT3 AUX2_OUT4 AUX2_OUT5 AUX2_OUT6 WAKE_CNT_L WAKE_CNT_H SLEEP_CNT_L SLEEP_CNT_H BUF_SMPLEV_L BUF_SMPLEV_H R/W I2C Add R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R R 00h 01h 02h 03h 04h 05h 06h 07h 08h 09h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 1Eh 1Fh Register Name R/W I2C Add Register Name R/W I2C Add BUF_PAST_L BUF_PAST_H AUX_STATUS RESERVED WHO_AM_I SN1_MIR SN2_MIR SN3_MIR SN4_MIR RESERVED STATUS1 INT1_SRC1 INT1_SRC2 INT1_L STATUS2 INT2_SRC1 INT2_SRC2 INT2_L ACCEL_ODR_WAKE ACCEL_ODR_SLEEP ACCEL_CTL GYRO_ODR_WAKE GYRO_ODR_SLEEP STDBY CTL_REG_1 INT_PIN_CTL INT_PIN1_SEL INT_PIN2_SEL INT_MASK1 INT_MASK2 FSYNC_CTL WAKE_SLEEP_CTL1 R R R R R R R R R R R/W R R R R/W R R R R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W 20h 21h 22h 23h-2Fh 30h 31h 32h 33h 34h 35h 36h 37h 38h 39h 3Ah 3Bh 3Ch 3Dh 3Eh 3Fh 40h 41h 42h 43h 44h 45h 46h 47h 48h 49h 4Ah 4Bh WAKE_SLEEP_CTL2 WUF_TH WUF_COUNTER BTS_TH BTS_COUNTER AUX_I2C_CTL_REG AUX_I2C_SAD1 AUX_I2C_REG1 AUX_I2C_CTL1 AUX_I2C_BIT1 AUX_I2C_ODR1_W AUX_I2C_ODR1_S AUX_I2C_SAD2 AUX_I2C_REG2 AUX_I2C_CTL2 AUX_I2C_BIT2 AUX_I2C_ODR2_W AUX_I2C_ODR2_S RESERVED BUF_WMITH_L BUF_WMITH_H BUF_TRIGTH_L BUF_TRIGTH_H BUF_CTL2 BUF_CTL3 BUF_CTL4 BUF_EN BUF_STATUS BUF_CLEAR BUF_READ R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W 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 4Ch 4Dh 4Eh 4Fh 50h 51h 52h 53h 54h 55h 56h 57h 58h 59h 5Ah 5Bh 5Ch 5Dh 5Eh 74h 75h 76h 77h 78h 79h 7Ah 7Bh 7Ch 7Dh 7Eh 7Fh Table 13: I2C Register Map 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 32 of 87 Kionix Confidential PART NUMBER: Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications KXG03 Rev. 0.19 11-Feb-16 Gyroscope Outputs These registers contain 16-bits of valid angular rate data for each axis. The data is protected from overwrite during each read, and can be converted from digital counts to angular rate (deg/sec) per the table below. 16-bit 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 Range = ±2048 Range = ±1024 Counts in decimal deg/sec deg/sec 32767 +2047.9375 +1023.9688 32766 +2047.8750 +1023.9376 … … … 1 +0.0625 +0.0312 0 0 deg/sec 0 deg/sec -1 -0.0625 -0.0312 … … … -32767 -2047.9375 -1023.9688 -32768 -2048.0000 -1024.0000 Table 14: Angular Rate (deg/sec) Calculation Range = ±512 deg/sec +511.9844 +511.9688 … +0.0156 0 deg/sec -0.0156 … -511.9844 -512.0000 Range = ±256 deg/sec +255.9922 +255.9844 … +0.0078 0 deg/sec -0.0078 … -255.9922 -256.0000 Accelerometer Outputs These registers contain 16-bits of valid angular rate data for each axis. The data is protected from overwrite during each read, and can be converted from digital counts to acceleration (g) per the table below. 16-bit Data (2’s complement) Equivalent Counts in decimal Range = ±2g Range = ±4g Range = ±8g Range = ±16g 0111 1111 1111 1111 32767 +2.0000g +3.9999g +7.9998g +15.9996g 0111 1111 1111 1110 32766 +1.9999g +3.9998g +7.9995g +15.9992g … … … … … … 0000 0000 0000 0001 1 +0.00006g +0.0001g +0.0002g +0.0004g 0000 0000 0000 0000 0 0.000g 0.0000g 0.0000g 0.0000g 1111 1111 1111 1111 -1 -0.00006g -0.0001g -0.0002g -0.0004g … … … … … … 1000 0000 0000 0001 -32767 -1.9999g -3.9999g -7.9998g -15.9996g 1000 0000 0000 0000 -32768 -2.0000g -4.0000g -8.000g -15.000g Table 15: Acceleration (g) Calculation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 33 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Temperature Sensor Outputs The temperature registers contain up to 16-bits of temperature data. Sensitivity can be considered as 128 counts/°C, or 7.8mC/LSB. 16-bit Register Data Equivalent Temperature (2’s complement) Counts in decimal (°C) 0010 1010 1000 0000 10880 +85.000 °C … … … 0000 0000 1000 0000 128 +1.0000 °C … … … 0000 0000 0000 0001 1 +0.0078 °C 0000 0000 0000 0000 0 0.0000 °C 1111 1111 1111 1111 -1 -0.0078 °C … … … 1111 1111 1000 0000 -128 -1.0000 °C … … … 1110 1100 0000 0000 -5120 -40.000 °C Table 16: Temperature (C) Calculation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 34 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Register Descriptions TEMP_OUT Temperature Output least and most significant bytes TEMP_OUT_L and TEMP_OUT_H R TEMP7 TEMP15 Bit7 R TEMP6 TEMP14 Bit6 R TEMP5 TEMP13 Bit5 R TEMP4 TEMP12 Bit4 R TEMP3 TEMP11 Bit3 R TEMP2 TEMP10 Bit2 R R TEMP1 TEMP0 TEMP9 TEMP8 Bit1 Bit0 2 I C Address: 0x00h,0x01h GYRO_XOUT X-axis gyroscope output least and most significant bytes GYRO_XOUT_L and GYRO_XOUT_H R GYRO_X7 GYRO_X15 Bit7 R GYRO_X6 GYRO_X14 Bit6 R GYRO_X5 GYRO_X13 Bit5 R GYRO_X4 GYRO_X12 Bit4 R GYRO_X3 GYRO_X11 Bit3 R GYRO_X2 GYRO_X10 Bit2 R R GYRO_X1 GYRO_X0 GYRO_X9 GYRO_X8 Bit1 Bit0 I2C Address: 0x02h,0x03h GYRO_YOUT Y-axis gyroscope output least and most significant bytes GYRO_YPUT_L and GYRO_YOUT_H R GYRO_Y7 GYRO_Y15 Bit7 R GYRO_Y6 GYRO_Y14 Bit6 R GYRO_Y5 GYRO_Y13 Bit5 R GYRO_Y4 GYRO_Y12 Bit4 R GYRO_Y3 GYRO_Y11 Bit3 R GYRO_Y2 GYRO_Y10 Bit2 R GYRO_Y1 GYRO_Y9 Bit1 R GYRO_Y0 GYRO_Y8 Bit0 I2C Address: 0x04h,0x05h GYRO_ZOUT Z-axis gyroscope output least and most significant bytes GYRO_ZOUT_L and GYRO_ZOUT_H R GYRO_Z7 GYRO_Z15 Bit7 R GYRO_Z6 GYRO_Z14 Bit6 R GYRO_Z5 GYRO_Z13 Bit5 R GYRO_Z4 GYRO_Z12 Bit4 R GYRO_Z3 GYRO_Z11 Bit3 R GYRO_Z2 GYRO_Z10 Bit2 R GYRO_Z1 GYRO_Z9 Bit1 R GYRO_Z0 GYRO_Z8 Bit0 I2C Address: 0x06h,0x07h 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 35 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 ACCEL_XOUT X-axis accelerometer output least and most significant byte ACCEL_XOUT_L and ACCEL_XOUT_H R R R R R R R R ACCEL_X7 ACCEL_X6 ACCEL_X5 ACCEL_X4 ACCEL_X3 ACCEL_X2 ACCEL_X1 ACCEL_X0 ACCEL_X11 ACCEL_X10 ACCEL_X9 ACCEL_X8 ACCEL_X7 ACCEL_X6 ACCEL_X5 ACCEL_X4 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x08h,0x09h ACCEL_YOUT Y-axis accelerometer output least and most significant byte ACCEL_YOUT_L and ACCEL_YOUT_H R R R R R R R R ACCEL_Y7 ACCEL_Y6 ACCEL_Y5 ACCEL_Y4 ACCEL_Y3 ACCEL_Y2 ACCEL_Y1 ACCEL_Y0 ACCEL_Y11 ACCEL_Y10 ACCEL_Y9 ACCEL_Y8 ACCEL_Y7 ACCEL_Y6 ACCEL_Y5 ACCEL_Y4 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x0Ah,0x0Bh ACCEL_ZOUT Z-axis accelerometer output least and most significant byte ACCEL_ZOUT_L and ACCEL_ZOUT_H R R R R R R R R ACCEL_Z7 ACCEL_Z6 ACCEL_Z5 ACCEL_Z4 ACCEL_Z3 ACCEL_Z2 ACCEL_Z1 ACCEL_Z0 ACCEL_Z11 ACCEL_Z10 ACCEL_Z9 ACCEL_Z8 ACCEL_Z7 ACCEL_Z6 ACCEL_Z5 ACCEL_Z4 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x0Ch,0x0Dh AUX1_OUT Auxiliary Sensor #1 output data bytes AUX1_OUT1 through AUX1_OUT6 R AUX1_1_7 AUX1_2_7 AUX1_3_7 AUX1_4_7 AUX1_5_7 AUX1_6_7 Bit7 R AUX1_1_6 AUX1_2_6 AUX1_3_6 AUX1_4_6 AUX1_5_6 AUX1_6_6 Bit6 R AUX1_1_5 AUX1_2_5 AUX1_3_5 AUX1_4_5 AUX1_5_5 AUX1_6_5 Bit5 R AUX1_1_4 AUX1_2_4 AUX1_3_4 AUX1_4_4 AUX1_5_4 AUX1_6_4 Bit4 R AUX1_1_3 AUX1_2_3 AUX1_3_3 AUX1_4_3 AUX1_5_3 AUX1_6_3 Bit3 R AUX1_1_2 AUX1_2_2 AUX1_3_2 AUX1_4_2 AUX1_5_2 AUX1_6_2 Bit2 R AUX1_1_1 AUX1_2_1 AUX1_3_1 AUX1_4_1 AUX1_5_1 AUX1_6_1 Bit1 R AUX1_1_0 AUX1_2_0 AUX1_3_0 AUX1_4_0 AUX1_5_0 AUX1_6_0 Bit0 Reset Value 0000 0000 0000 0000 0000 0000 I2C Address: 0x0Eh to 0x13h 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 36 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX2_OUT Auxiliary Sensor #2 output data bytes AUX2_OUT1 through AUX2_OUT6 R AUX2_1_7 AUX2_2_7 AUX2_3_7 AUX2_4_7 AUX2_5_7 AUX2_6_7 Bit7 R AUX2_1_6 AUX2_2_6 AUX2_3_6 AUX2_4_6 AUX2_5_6 AUX2_6_6 Bit6 R AUX2_1_5 AUX2_2_5 AUX2_3_5 AUX2_4_5 AUX2_5_5 AUX2_6_5 Bit5 R AUX2_1_4 AUX2_2_4 AUX2_3_4 AUX2_4_4 AUX2_5_4 AUX2_6_4 Bit4 R AUX2_1_3 AUX2_2_3 AUX2_3_3 AUX2_4_3 AUX2_5_3 AUX2_6_3 Bit3 R AUX2_1_2 AUX2_2_2 AUX2_3_2 AUX2_4_2 AUX2_5_2 AUX2_6_2 Bit2 R AUX2_1_1 AUX2_2_1 AUX2_3_1 AUX2_4_1 AUX2_5_1 AUX2_6_1 Bit1 R AUX2_1_0 AUX2_2_0 AUX2_3_0 AUX2_4_0 AUX2_5_0 AUX2_6_0 Bit0 Reset Value 0000 0000 0000 0000 0000 0000 I2C Address: 0x14h to 0x19h WAKE_CNT Number of ODR cycles spent in wake state as measured in accelerometer ODRa_wake/ODRa_sleep periods. Data byte WAKE_CNT_L and WAKE_CNT_H. Reset R R R R R R R R Value WAKE_C7 WAKE_C6 WAKE_C5 WAKE_C4 WAKE_C3 WAKE_C2 WAKE_C1 WAKE_C0 0000 WAKE_C15 WAKE_C14 WAKE_C13 WAKE_C12 WAKE_C11 WAKE_C10 WAKE_C9 WAKE_C8 0000 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x1Ah,0x1Bh SLEEP_CNT Number of ODR cycles spent in sleep state as measured in accelerometer ODRa_wake/ODRa_sleep periods. Data byte SLEEP_CNT_L and SLEEP_CNT_H. Reset R R R R R R R R Value SLEEP_C7 SLEEP _C6 SLEEP _C5 SLEEP _C4 SLEEP _C3 SLEEP _C2 SLEEP _C1 SLEEP _C0 0000 SLEEP _C15 SLEEP _C14 SLEEP _C13 SLEEP _C12 SLEEP _C11 SLEEP _C10 SLEEP _C9 SLEEP _C8 0000 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 2 I C Address: 0x1Ch,0x1D 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 37 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 BUF_SMPLEV Reports the number of data packets (ODR cycles) currently stored in the buffer. Reading the buffer contents, BUF_SMPLEV or BUF_PAST within 10 us from enabling or clearing the buffer is not permitted to avoid corrupted data. Data bytes BUF_SMPLEV_L and BUF_SMPLEV_H Reset R R R R R R R R Value BUFSLEV1 BUFSLEV0 Reserved Reserved Reserved Reserved Reserved Reserved 0000 BUFSLEV9 BUFSLEV8 BUFSLEV7 BUFSLEV6 BUFSLEV5 BUFSLEV4 BUFSLEV3 BUFSLEV2 0000 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 2 I C Address: 0x1Eh,0x1Fh BUF_PAST Reports the number of data packets lost since buffer has been filled. Reading the buffer contents, BUF_SMPLEV or BUF_PAST within 10 us from enabling or clearing the buffer is not permitted to avoid corrupted data. Data bytes BUF_PAST_L and BUF_PAST_H Reset R R R R R R R R Value BUFPAST1 BUFPAST0 Reserved Reserved Reserved Reserved Reserved Reserved 0000 BUFPAST9 BUFPAST8 BUFPAST7 BUFPAST6 BUFPAST5 BUFPAST4 BUFPAST3 BUFPAST2 0000 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 2 I C Address: 0x20h,0x21h AUX_STATUS Reports the status of Auxiliary Sensors AUX1 and AUX2. R R R R R R AUX2FAIL AUX2ERR AUX2ST1 AUX2ST0 AUX1FAIL AUX1ERR Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 R R AUX1ST1 AUX1ST0 Bit1 Bit0 2 I C Address: 0x22h Reset Value 00000000 AUX1ST[1:0] - Detailed aux1 communication status. 2'b00: Aux1 sensor is disabled. Aux1 has not been enabled or ASIC has successfully sent disable cmd. 2'b01: Aux1 sensor is waiting to be enabled. ASIC is attempting to enable aux sensor via enable sequence. 2'b10: Aux1 sensor is waiting to be disabled. ASIC is attempting to disable aux sensor via disable sequence. 2'b11: Aux1 sensor is running. ASIC has successfully sent aux enable cmd. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 38 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX1ERR - Aux1 data read error flag. 0: No error detected. 1: Missing ACK detected during aux1 polling. ASIC will retry polling aux device at next scheduled ODR period. Flag is cleared by writing (any value) into AUX_STATUS register. AUX1FAIL - Aux1 command sequence failure flag. 0: No failure detected. 1: Missing ACK detected after writing control register address to aux1 device during enable/disable command sequence. ASIC will suspend aux1 communications until AUX1FAIL bit is cleared by user. Flag is cleared by writing (any value) into AUX_STATUS register. AUX2ST[1:0] - Detailed aux2 communication status. 2'b00: Aux2 sensor is disabled. Aux2 has not been enabled or ASIC has successfully sent disable cmd. 2'b01: Aux2 sensor is waiting to be enabled. ASIC is attempting to enable aux sensor via enable sequence. 2'b10: Aux2 sensor is waiting to be disabled. ASIC is attempting to disable aux sensor via disable sequence. 2'b11: Aux2 sensor is running. ASIC has successfully sent aux enable cmd. AUX2ERR – Aux2 data read error flag. 0: No error detected. 1: Missing ACK detected during aux2 polling. ASIC will retry polling aux device at next scheduled ODR period. Flag is cleared by writing (any value) into AUX_STATUS register. AUX2FAIL – Aux2 command sequence failure flag. 0: No failure detected. 1: Missing ACK detected after writing control register address to aux2 device during enable/disable command sequence. ASIC will suspend aux1 communications until AUX2FAIL bit is cleared by user. Flag is cleared by writing (any value) into AUX_STATUS register. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 39 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 WHO_AM_I This register can be used for supplier recognition, as it can be factory written to a known byte value. The default value is 0x24h. R WIA7 Bit7 R WIA6 Bit6 R WIA5 Bit5 R WIA4 Bit4 R WIA3 Bit3 R WIA2 Bit2 R WIA1 Bit1 2 I C Address: R WIA0 Bit0 0x30h Reset Value 00100100 SN Individual Identification (serial number). Data bytes SN_1, SN_2, SN_3, SN_4. R/W SN7 SN15 SN23 SN31 Bit7 R/W SN6 SN14 SN22 SN30 Bit6 R/W SN5 SN13 SN21 SN29 Bit5 R/W SN4 SN12 SN20 SN28 Bit4 R/W SN3 SN11 SN19 SN27 Bit3 R/W SN2 SN10 SN18 SN26 Bit2 R/W R/W SN1 SN0 SN9 SN8 SN17 SN16 SN25 SN24 Bit1 Bit0 I2C Address: 0x31h – 0x34 STATUS1 Status register 1. GYRO_START = 1 and GYRO_RUN = 0 at system startup and go to GYRO_START = 0 and GYRO_RUN = 1 as the output rate signals become valid; permanent GYRO_START = 1 and GYRO_RUN = 0 indicate a damage in the device. R R R R R R R R INT1 POR AUX2_ACT AUX1_ACT AUX_ERR WAKE/SLEEP GYRO_RUN GYRO_START Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 2 I C Address: 0x36h Reset Value 01000000 INT1 - reports Logical OR of non-masked interrupt sources sent to INT1 pin. 0: No interrupt event. 1: Interrupt event. POR - Reset indicator. 0: No reset has occurred since register was last read. 1: ASIC has exited reset phase. This bit is automatically cleared when the status register is read. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 40 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX2_ACT - Auxiliary sensor #2 active flag. 0:Aux2 is not active. Aux2 has completed its disable sequence and is in standby mode. 1: Aux2 active. Aux2 has completed its enable sequence and is in active mode. AUX1_ACT - Auxiliary sensor #1 active flag. 0:Aux1 is not active. Aux1 has completed its disable sequence and is in standby mode. 1: Aux1 active. Aux1 has completed its enable sequence and is in active mode. AUX_ERR - Auxiliary communications error. 0: No aux communication error detected. 1: Aux communication error (missing ACK) detected. Note: - The user should read aux_stat register to determine state of aux sensors upon aux error detection. - The flag can be cleared through writing any value to AUX_STATUS register WAKE/SLEEP - Wake/sleep status flag. 0: Sleep mode. 1: Wake mode. GYRO_START - Gyroscope start-up flag. 0: Gyro not in start-up mode. 1: Start-up mode. GYRO_RUN - Gyroscope run flag. 0: control loop has not locked. 1: control loop has locked and gyroscope is active. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 41 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 INT1_SRC1 Interrupt 1 source register 1 R R R R R R R R INT1_DRDY_ INT1_DRDY_ INT1_DRDY_ INT1_DRDY_ Reset INT1_BFI INT1_WMI INT1_WUFS INT1_BTS AUX2 AUX1 ACCTEMP GYRO Value Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000000 I2C Address: 0x37h INT1_BFI - Buffer full interrupt. 0: Buffer is not full. 1: Buffer is full. This bit is cleared when the int1_l register is read or when the buffer full condition ceases to exist. Please note: Re-enabling the buffer after the buffer had been disabled during a BFI event can cause the ASIC to briefly output a false BFI flag. INT1_WMI - Buffer water mark interrupt. 0: Watermark has not been reached. 1: Watermark has been reached. This bit is cleared when the int1_l register is read or when the water mark condition ceases to exist. Please note: Re-enabling the buffer after the buffer had been disabled during a WMI event can cause the ASIC to briefly output a false WMI flag. INT1_WUFS - Wake-up function interrupt. 0: No Wake-up event detected. 1: Wake-up event detected. This bit is cleared when the int1_l register is read. INT1_BTS – Back-to-sleep interrupt. 0: No back-to-sleep event detected. 1: Back-to-sleep event detected. This bit is cleared when the int1_l register is read. INT1_DRDY_AUX2 - Aux2 data ready interrupt. 0: New sensor data is not ready. 1: New sensor data is ready. This bit is cleared when the int1_l register or when the aux2_out1 register is read. INT1_DRDY_AUX1 – Aux1 data ready interrupt. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 42 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 0: New sensor data is not ready. 1: New sensor data is ready. This bit is cleared when the int1_l register or when the aux1_out1 register is read. INT1_DRDY_ACCTEMP – Accelerometer / Temperature data ready interrupt. 0: New sensor data is not ready. 1: New sensor data is ready. Note: With both accel and die temp enabled simultaneously, the die temp data updates at the same time as the accel data. With the accel disabled the availability of new die temp data uses the drdy_acctemp interrupt. This bit is cleared when the int1_l register or when the acc_xout_l register (x06) is read or when temp_out_l is read (if accel disabled). INT1_DRDY_GYRO – Gyro data ready interrupt. 0: New sensor data is not ready. 1: New sensor data is ready. This bit is cleared when the int1_l register or when the gyro_xout_l register (x00) is read. INT1_SRC2 Interrupt 1 source register 2 R Reserved Bit7 R Reserved Bit6 R R R R R R INT1_XNWU INT1_XPWU INT1_YNWU INT1_YPWU INT1_ZNWU INT1_ZPWU Reset Value Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000000 I2C Address: 0x38h INT1_XNWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on x-axis, negative direction. INT1_XPWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on x-axis, positive direction. INT1_YNWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on y-axis, negative direction. INT1_YPWU – WUF directional indicator bit. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 43 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 0: no interrupt event. 1: Wake-up event detected on y-axis, positive direction. INT1_ZNWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on z-axis, negative direction. INT1_ZPWU – WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on z-axis, positive direction. INT1_L Interrupt 1 Latch Release – Reading the interrupt1 latch release register clears the interrupt1 source (int1_src1 and int1_src2) registers. Reading int1_l returns x00 in user mode. R 0 Bit7 R 0 Bit6 R 0 Bit5 R 0 Bit4 R 0 Bit3 R 0 Bit2 R R 0 0 Bit1 Bit0 I2C Address: 0x39h STATUS2 Status register 2. GYRO_START = 1 and GYRO_RUN = 0 at system startup and go to GYRO_START = 0 and GYRO_RUN = 1 as the output rate signals become valid; permanent GYRO_START = 1 and GYRO_RUN = 0 indicate a damage in the device. R R R R R R R R INT2 POR AUX2_ACT AUX1_ACT AUX_ERR WAKE/SLEEP GYRO_RUN GYRO_START Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 2 I C Address: Reset Value 01000000 0x3Ah INT2 - reports Logical OR of non-masked interrupt sources sent to INT2 pin. 0: No interrupt event. 1: Interrupt event. POR - Reset indicator. 0: No reset has occurred since register was last read. 1: ASIC has exited reset phase. This bit is automatically cleared when the status register is read. AUX2_ACT - Auxiliary sensor #2 active flag. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 44 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 0:Aux2 is not active. Aux2 has completed its disable sequence and is in standby mode. 1: Aux2 active. Aux2 has completed its enable sequence and is in active mode. AUX1_ACT - Auxiliary sensor #1 active flag. 0:Aux1 is not active. Aux1 has completed its disable sequence and is in standby mode. 1: Aux1 active. Aux1 has completed its enable sequence and is in active mode. AUX_ERR - Auxiliary communications error. 0: No aux communication error detected. 1: Aux co communication mm error (missing ACK) detected. Note: The user should read aux_stat register to determine state of aux sensors upon aux error detection. WAKE/SLEEP - Wake/sleep status flag. 0: Sleep mode. 1: Wake mode. GYRO_START - Gyroscope start-up flag. 0: Gyro not in startup mode. 1: Start up mode. GYRO_RUN - Gyroscope run flag. 0: control loop has not locked. 1: control loop has locked and gyroscope is active. INT2_SRC1 Interrupt 2 source register 1 R R R R R R R R INT2_DRDY_ INT2_DRDY_ INT2_DRDY_ INT2_DRDY_ Reset INT2_BFI INT2_WMI INT2_WUFS INT2_BTS AUX2 AUX1 ACCTEMP GYRO Value Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000000 I2C Address: 0x3Bh INT2_BFI - Buffer full interrupt. 0: Buffer is not full. 1: Buffer is full. This bit is cleared when the int2_l register is read or when the buffer full condition ceases to exist. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 45 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Please note: Re-enabling the buffer after the buffer had been disabled during a BFI event can cause the ASIC to briefly output a false BFI flag. INT2_WMI - Buffer water mark interrupt. 0: Watermark has not been reached. 1: Watermark has been reached. This bit is cleared when the int2_l register is read or when the water mark condition ceases to exist. Please note: Re-enabling the buffer after the buffer had been disabled during a WMI event can cause the ASIC to briefly output a false WMI flag. INT2_WUFS - Wake-up function interrupt. 0: No Wake-up event detected. 1: Wake-up event detected. This bit is cleared when the int2_l register is read. INT2_BTS – Back-to-sleep interrupt. 0: No back-to-sleep event detected. 1: Back-to-sleep event detected. This bit is cleared when the int2_l register is read. INT2_DRDY_AUX2 - Aux2 data ready interrupt. 0: New sensor data is not ready. 1: New sensor data is ready. This bit is cleared when the int2_l register or when the aux2_out1 register is read. INT2_DRDY_AUX1 – Aux1 data ready interrupt. 0: New sensor data is not ready. 1: New sensor data is ready. This bit is cleared when the int2_l register or when the aux1_out1 register is read. INT2_DRDY_ACCTEMP – Accelerometer data ready interrupt. 0: New sensor data is not ready. 1: New sensor data is ready. Note: With both accel and die temp enabled simultaneously, the die temp data updates at the same time as the accel data. With the accel disabled the availability of new die temp data uses the drdy_acctemp interrupt. This bit is cleared when the int2_l register or when the acc_xout_l register (x06) is read or when temp_out_l is read (if accel disabled). INT2_DRDY_GYRO – Gyro data ready interrupt. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 46 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 0: New sensor data is not ready. 1: New sensor data is ready. This bit is cleared when the int2_l register or when the gyro_xout_l register (x00) is read. INT2_SRC2 Interrupt 2 source register 2 R Reserved Bit7 R Reserved Bit6 R R R R R R INT2_XNWU INT2_XPWU INT2_YNWU INT2_YPWU INT2_ZNWU INT2_ZPWU Reset Value Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000000 2 I C Address: 0x3Ch INT2_XNWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on x-axis, negative direction. INT2_XPWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on x-axis, positive direction. INT2_YNWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on y-axis, negative direction. INT2_YPWU – WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on y-axis, positive direction. INT2_ZNWU - WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on z-axis, negative direction. INT2_ZPWU – WUF directional indicator bit. 0: no interrupt event. 1: Wake-up event detected on z-axis, positive direction. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 47 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 INT2_L Interrupt 2 Latch Release – Reading the interrupt2 latch release register clears the interrupt2 source (int1_src2 and int2_src2) registers. Reading int2_l returns x00 in user mode. R 0 Bit7 R 0 Bit6 R 0 Bit5 R 0 Bit4 R 0 Bit3 R 0 Bit2 R R 0 0 Bit1 Bit0 I2C Address: 0x3Dh ACCEL_ODR_WAKE Accelerometer Wake Mode Control register. R/W R/W LPMODE_W NAVG_W2 Bit7 Bit6 R/W NAVG_W1 Bit5 R/W NAVG_W0 Bit4 R/W ODRA_W3 Bit3 R/W ODRA_W2 Bit2 R/W R/W ODRA_W1 ODRA_W0 Reset Value Bit1 Bit0 11010110 I2C Address: 0x3Eh LPMODE_W - Accelerometer wake state low power mode enable. 0: Accelerometer low power mode is disabled in wake state. Accelerometer operates at max sampling rate and navg_wake is ignored. 1: Accelerometer low power mode is enabled in wake state. Accelerometer operates in duty cycle mode with number of samples set by navg_wake Note: The LPMODE_W = 1 setting would be ignored and device would not operate in duty cycle mode when ODR for either accelerometer or gyro is set for 400Hz or higher. NAVG_W[2:0]: Accelerometer wake mode OSR control. The max over sampling rate (or max number of samples averaged) varies with ODR. [2] [1] [0] Number of Averages 0 0 0 1 0 0 1 2 0 1 0 4 0 1 1 8 1 0 0 16 1 0 1 32 1 1 0 64 1 1 1 128 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 48 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 ODRA_W[3:0]: Determines accelerometer ODR in wake mode [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 3200Hz 6400Hz 12800Hz 51200Hz ACCEL_ODR_SLEEP Accelerometer Wake Mode Control register. R/W R/W LPMODE_S NAVG_S2 Bit7 Bit6 R/W NAVG_S1 Bit5 R/W NAVG_S0 Bit4 R/W ODRA_S3 Bit3 R/W ODRA_S2 Bit2 R/W R/W ODRA_S1 ODRA_S0 Bit1 Bit0 I2C Address: 0x3Fh Reset Value 11010110 LPMODE_S - Accelerometer sleep state low power mode enable. 0: Accelerometer low power mode is disabled in sleep state. Accelerometer operates at max sampling rate and navg_sleep is ignored. 1: Accelerometer low power mode is enabled in sleep state. Accelerometer operates in duty cycle mode with number of samples set by navg_sleep. Note: The LPMODE_S = 1 setting would be ignored and device would not operate in duty cycle mode when ODR for either accelerometer or gyro is set for 400Hz or higher. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 49 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 NAVG_S[2:0]: Accelerometer sleep mode OSR control. The max over sampling rate (or max number of samples averaged) varies with ODR. [2] 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 Number of Averages 1 2 4 8 16 32 64 128 ODRA_S[3:0]: Determines accelerometer ODR in sleep mode [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 3200Hz 6400Hz 12800Hz 51200Hz 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 50 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 ACCEL_CTL Accelerometer range control register. R/W R/W R/W ACC_FS_S1 ACC_FS_S0 Reserved Bit7 Bit6 Bit5 R/W Reserved Bit4 R/W R/W R/W ACC_FS_W1 ACC_FS_W0 Reserved Bit3 Bit2 R/W Reserved Bit1 Bit0 I2C Address: 0x40h Reset Value 00000000 ACC_FS_S[1:0] Accelerometer sleep mode full scale range select. 2'b00: ± 2 g 2'b01: ± 4 g, 2'b10: ± 8 g, 2'b11: ± 16 g ACC_FS_W[1:0] Accelerometer wake mode full scale range select. 2'b00: ± 2 g 2'b01: ± 4 g, 2'b10: ± 8 g, 2'b11: ± 16 g GYRO_ODR_WAKE Gyroscope Wake Mode Control register. R/W R/W R/W R/W R/W R/W R/W R/W GYRO_FS_ GYRO_FS_ GYRO_BW_ GYRO_BW_ W1 W0 W1 W0 ODRG_W3 ODRG_W2 ODRG_W1 ODRG_W0 Reset Value Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000110 2 I C Address: 0x41h GYRO_FS_W[1:0]: Gyroscope angular velocity range wake mode . [1] [0] Range 0 0 ±256 0 1 ±512 1 0 ±1024 1 1 ±2048 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 51 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 GYRO_BW_W[1:0]: Gyroscope bandwidth selection in wake mode. [1] 0 0 1 1 [0] 0 1 0 1 BW 10 Hz 20 Hz 40 Hz 160 Hz ODRG_W[3:0]: Determines gyroscope ODR in wake mode [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 1600Hz 1600Hz 1600Hz 1600Hz 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 52 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 GYRO_ODR_SLEEP Gyroscope Sleep Mode Control register. R/W R/W R/W R/W R/W GYRO_FS_ GYRO_FS_ GYRO_BW_ GYRO_BW_ S1 S0 S1 S0 ODRG_S3 Bit7 Bit6 Bit5 Bit4 Bit3 R/W ODRG_S2 Bit2 R/W R/W ODRG_S1 ODRG_S0 Bit1 Bit0 I2C Address: 0x42h Reset Value 00000110 GYRO_FS_S[1:0]: Gyroscope angular velocity range in sleep mode. [1] 0 0 1 1 [0] 0 1 0 1 Range ±256 ±512 ±1024 ±2048 GYRO_BW_S[1:0]: Gyroscope bandwidth selection in sleep mode. [1] 0 0 1 1 [0] 0 1 0 1 BW 10 Hz 20 Hz 40 Hz 160 Hz 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 53 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 ODRG_S[3:0]: Determines gyroscope ODR in sleep mode [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 1600Hz 1600Hz 1600Hz 1600Hz 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 54 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 STDBY Stand-by and operational control register. KXG03 register settings can be applied prior to enabling the Accel or Gyro. Enabling the sensor “locks in” the user register settings. Altering register settings after enable is not recommended. R/W R/W R/W R/W AUX2_STD AUX1_STD GYRO_STD BY_S BY_S BY_S Reserved Bit7 Bit6 Bit5 Bit4 R/W R/W R/W R/W AUX2_STD AUX1_STD GYRO_STD Reset Value BY_W BY_W BY_W ACC_STDBY 11101111 Bit3 Bit2 Bit1 Bit0 2 I C Address: 0x43h AUX2_STDBY_S - Active low aux2 sensor enable. 0: Aux2 sensor is enabled in sleep state. 1: Aux2 sensor is disabled in sleep state. AUX1_STDBY_S - Active low aux1 sensor enable. 0: Aux1 sensor is enabled in sleep state. 1: Aux1 sensor is disabled in sleep state GYRO_STDBY_S - Active low gyroscope sensor enable. 0: Gyro sensor is enabled in sleep state. 1: Gyro sensor is disabled in sleep state. AUX2_STDBY_W - Active low aux2 sensor enable. 0: Aux2 sensor is enabled in wake state. 1: Aux2 sensor is disabled in wake state. AUX1_STDBY_W - Active low aux1 sensor enable. 0: Aux1 sensor is enabled in wake state. 1: Aux1 sensor is disabled in wake state. GYRO_STDBY_W - Active low gyroscope sensor enable. 0: Gyro sensor is enabled in wake state. 1: Gyro sensor is disabled in wake state. ACC_STDBY - Active low Accelerometer sensor enable. 0: Accelerometer sensor is enabled. 1: Accelerometer sensor is disabled. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 55 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 CTL_REG_1 Special control register 1. R/W R/W RST Reserved Bit7 Bit6 R/W R/W R/W R/W R/W R/W I2C_DIS TEMP_STDBY_S TEMP_STDBY_W Reserved ACC_STPOL ACC_ST Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x44h Reset Value 00011000 RST - Active high soft reset. 0: No reset. 1: ASIC enters reset sequence. All registers are cleared. ASIC may initiate power up sequence. This bit is self-clearing. I2C_DIS - Active high I2C disable bit. 0: I2C interface is not disabled. 1: I2C interface is disabled. Please note the I2C_DIS control bit defaults to 0 on power up or when exiting reset. The state of this bit can only be changed via SPI communications. For applications using SPI on a shared bus (multiple slave devices on a single nCS line) I2C_DIS should be set 1. Applications using a SPI interface on a dedicated bus (nCS connects only to KXG03 and not to any other slave devices) can function with I2C_DIS set to 0 or 1. For applications using I2C interface I2C_DIS should be set 0. TEMP_STDBY_S - Sleep mode temperature output standby bit. 0: Temperature output is enabled in sleep mode. 1: Temperature output is disabled in sleep mode. Note: Temperature output operates with the same ODR as the Accelerometer. TEMP_STDBY_W - Wake mode temperature output standby bit. 0: Temperature output is enabled in wake mode. 1: Temperature output is disabled in wake mode. Note: Temperature output operates with the same ODR as the Accelerometer. ACC_STPOL - Defines accelerometer self-test polarity. 0: Accelerometer self-test polarity is not inverted. 1: Accelerometer self-test polarity is inverted. ACC_ST - Active high accelerometer self-test enable. 0: Accelerometer self-test is disabled. 1: Accelerometer self-test is enabled. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 56 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 INT_PIN_CTL This register controls the settings for the physical interrupt pins INT1 and INT2. R/W IEN2 R/W IEA2 R/W IEL2_1 R/W IEL2_0 R/W IEN1 R/W IEA1 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 R/W IEL1_1 I2C R/W IEL1_0 Bit1 Bit0 Address: 0x45h Reset Value 01000100 IEN2 - Active high enable for INT2 pin. 0: INT2 pin is disabled and output is forced to non-asserted state. 1: INT2 pin is enabled. Output state is either high or low depending on status of selected interrupt sources. IEA2 - Interrupt polarity select for INT2 pin. 0: INT2 is active low. Pin pulls low during interrupt event. 1: INT2 is active high. Pin pulls high during interrupt event. IEL2[1:0]: Interrupt latch mode select for INT2 pin. 2'b00: Latched. Once an interrupt has triggered INT2 remains in its interrupt state defined by IEA2 until the interrupt source has been cleared. 2'b01: Pulsed. Once an interrupt has triggered INT2 remains in its interrupt state defined by IEA2 for a period of 50 us before returning to the non-interrupt state. 2'b10: Pulsed. Once an interrupt has triggered INT2 remains in its interrupt state defined by IEA2 for a period of 200 us before returning to the non-interrupt state. 2'b11: Real time mode. INT2 only remains asserted as long as underlying interrupt conditions exist. IEN1 - Active high enable for INT1 pin. 0: INT1 pin is disabled and output is forced to non-asserted state. 1: INT1 pin is enabled. Output state is either high or low depending on status of selected interrupt sources. IEA1 - Interrupt polarity select for INT1 pin. 0: INT1 is active low. Pin pulls low during interrupt event. 1: INT1 is active high. Pin pulls high during interrupt event. IEL1[1:0]: Interrupt latch mode select for INT1 pin. 2'b00: Latched. Once an interrupt has triggered INT1 remains in its interrupt state defined by IEA2 until the interrupt source has been cleared. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 57 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 2'b01: Pulsed. Once an interrupt has triggered INT1 remains in its interrupt state defined by IEA2 for a period of 50 us before returning to the non-interrupt state. 2'b10: Pulsed. Once an interrupt has triggered INT1 remains in its interrupt state defined by IEA2 for a period of 200 us before returning to the non-interrupt state. 2'b11: Real time mode. INT1 only remains asserted as long as underlying interrupt conditions exist. INT_PIN1_SEL Physical interrupt pin INT1 select register. R/W BFI_P1 Bit7 R/W R/W R/W R/W R/W R/W R/W DRDY_AUX2_ DRDY_AUX1_ DRDY_ACCT DRDY_GYRO_ Reset Value WMI_P1 WUF_P1 BTS_P1 P1 P1 EMP_P1 P1 11111111 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x46h BFI_P1 – Buffer Full Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. WMI_P1 – Water Mark Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. WUF_P1 – Wake-up Function Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. BTS_P1 – Back-to-sleep Function Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. DRDY_AUX2_P1 – Data Ready Aux2 Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. DRDY_AUX1_P1 – Data Ready AUX1 Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 58 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 DRDY_ACCTEMP_P1 – Data Ready Accelerometer / Temperature Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. DRDY_GYRO_P1 – Data Ready Gyroscope Interrupt for INT1 pin. 0: Corresponding interrupt is not routed to INT1 pin. 1: Corresponding interrupt is routed to INT1 pin. INT_PIN2_SEL Physical interrupt pin INT2 select register. R/W BFI_P2 Bit7 R/W R/W R/W R/W R/W R/W R/W DRDY_AUX2_ DRDY_AUX1_ DRDY_ACCT DRDY_GYRO_ Reset Value WMI_P2 WUF_P2 BTS_P2 P2 P2 EMP_P2 P2 00000000 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x47h BFI_P2 – Buffer Full Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. WMI_P2 – Water Mark Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. WUF_P2 – Wake-up Function Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. BTS_P2 – Back-to-sleep Function Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. DRDY_AUX2_P2 – Data Ready Aux2 Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. DRDY_AUX1_P2 – Data Ready AUX1 Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 59 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 DRDY_ACCTEMP_P2 – Data Ready Accelerometer / Temperature Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. DRDY_GYRO_P2 – Data Ready Gyroscope Interrupt for INT2 pin. 0: Corresponding interrupt is not routed to INT2 pin. 1: Corresponding interrupt is routed to INT2 pin. INT_MASK1 Interrupt mask register 1. R/W R/W R/W R/W R/W BFIE WMIE WUFE BTSE DRDY_AUX2 Bit7 Bit6 Bit5 Bit4 Bit3 R/W R/W R/W DRDY_ACCT DRDY_AUX1 EMP DRDY_GYRO Bit2 I2C Bit1 Bit0 Address: 0x48h Reset Value 11000000 BFIE – Buffer Full Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. WMIE – Water Mark Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. WUFE – Wake-up Function Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. BTSE – Back-to-sleep Function Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is routed to INT1 pin. DRDY_AUX2 – Data Ready Aux2 Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. DRDY_AUX1 – Data Ready AUX1 Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 60 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 DRDY_ACCTEMP – Data Ready Accelerometer / Temperature Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. DRDY_GYRO – Data Ready Gyroscope Interrupt enable/mask bit. 0: Corresponding interrupt is disabled (masked). 1: Corresponding interrupt is enabled. INT_MASK2 Interrupt mask register 2. This register controls which axis and direction of detected motion can cause an interrupt. R/W Reserved Bit7 R/W Reserved Bit6 R/W XNWUE R/W XPWUE R/W YNWUE R/W YPWUE Bit5 Bit4 Bit3 Bit2 R/W ZNWUE R/W ZPWUE Bit1 Bit0 I2C Address: 0x49h Reset Value 00111111 NXWUE - x negative (x-) mask for WUF/BTS, 0=disable, 1=enable. PXWUE - x positive (x+) mask for WUF/BTS, 0=disable, 1=enable. NYWUE - y negative (y-) mask for WUF/BTS, 0=disable, 1=enable. PYWUE - y positive (y+) mask for WUF/BTS, 0=disable, 1=enable. NZWUE - z negative (z-) mask for WUF/BTS, 0=disable, 1=enable. PZWUE - z positive (z+) mask for WUF/BTS, 0=disable, 1=enable. FSYNC_CTL External Synchronous control register. R/W R/W R/W FSYNC_ FSYNC_ Reserved Reserved MODE1 MODE2 Bit7 R/W Bit6 Bit5 Bit4 R/W R/W R/W R/W Reset Value Reserved Bit3 FSYNC_SEL2 FSYNC_SEL1 FSYNC_SEL0 Bit2 Bit1 Bit0 00000000 I2C Address: 0x4Ah FSYNC_MODE[1:0]: FSYNC enable and mode select. 2'b00: FSYNC is disabled. SYNC pin is tri-stated. 2'b01: FSYNC is enabled. Sync pin is configured as input pin. Buffer is updated in sync with external clock applied at SYNC pin. 2'b10: FSYNC is enabled. Sync pin is configured as input pin. State of SYNC pin is stored in selected sensor's LSB bit. 2'b11: FSYNC is disabled. SYNC pin is configured as output pin. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 61 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 FSYNC_SEL[2:0]: FSYNC sensor select bits. if(fsync_mode=2'b10) 3'b000: SYNC function disabled. 3'b001: State of SYNC pin is stored in gyroscope’s x LSB bit. 3'b010: State of SYNC pin is stored in gyroscope’s y LSB bit. 3'b011: State of SYNC pin is stored in gyroscope’s z LSB bit 3'b100: State of SYNC pin is stored in accelerometer’s x LSB bit. 3'b101: State of SYNC pin is stored in accelerometer’s y LSB bit. 3'b110: State of SYNC pin is stored in accelerometer’s z LSB bit. 3'b111: State of SYNC pin is stored in temperature LSB bit if(fsync_mode=2'b11) 3'b000: SYNC pin outputs gyroscope ODR clock. 3'b001: SYNC pin outputs accelerometer’s ODR clock. 3'b010: SYNC pin outputs aux1 ODR clock. 3'b011: SYNC pin outputs aux2 ODR clock. 3'b1xx: SYNC pin disabled. WAKE_SLEEP_CTL1 Wake and Sleep control register 1. R/W R/W R/W R/W BTS_EN WUF_EN MAN_SLEEP MAN_WAKE Bit7 Bit6 Bit5 Bit4 R/W R/W R/W R/W Reserved Bit3 OWUF2 Bit2 OWUF1 Bit1 OWUF0 Bit0 Reset Value 00000000 I2C Address: 0x4Bh BTS_EN - Active high back-to-sleep function enable. 0: Back-to-sleep transition for all sensors is not controlled by BTS function. 1: Back-to-sleep transition for all sensors is controlled by BTS function. WUF_EN - Active high wake-up function enable. 0: Sleep-to-wake transition for all sensors is not controlled by BTS function. 1: Sleep-to-wake transition for all sensors is controlled by BTS function. MAN_SLEEP - Active high manual sleep trigger. 0: No impact. 1: Forces transition to sleep state. Please note: Man_sleep is a self-clearing bit. The bit is cleared automatically after transition to sleep state. Forcing a manual sleep state does not trigger WUFS or BTS interrupts. Setting both man_sleep=1 and man_wake=1 is ignored. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 62 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 MAN_WAKE - Active high manual wake trigger. 0: No impact. 1: Forces transition to wake state. Please note: Man_sleep is a self-clearing bit. The bit is cleared automatically after transition to sleep state. Forcing a manual sleep state does not trigger WUFS or BTS interrupts. Setting both man_sleep=1 and man_wake=1 is ignored. OWUF[2:0]: sets the Output Data Rate for the Wake-up (motion detection). [2] 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 Output Data Rate (Hz) 0.781 1.563 3.125 6.25 12.5 25 50 100 WAKE_SLEEP_CTL2 Wake and Sleep control register 1. R/W R/W R/W R/W R/W R/W R/W R/W Reserved Reserved Reserved Reserved Reserved Reserved TH_MODE C_MODE Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 I2C Bit1 Bit0 Address: 0x4Ch Reset Value 00000010 TH_MODE - Defines WUF and BTS threshold mode. 0: Absolute threshold. ASIC compares current output to threshold. 1: Relative threshold. ASIC compares difference between current output and previous output to threshold. C_MODE - Defines de-bounce counter clear mode. 0: Counter is cleared once activity level is outside the threshold. 1: Counter is decremented by one when activity level is outside the threshold. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 63 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 WUF_TH This register sets the Active Threshold for wake-up (motion detect) interrupt. The KXG03 will ship from the factory with this value set to correspond to a change in acceleration of 0.5g. Resolution = 62.5 mg/LSB for FS < ± 16 g. Resolution =125 mg/LSB for FS = ± 16 g. R/W ATH_7 Bit7 R/W ATH_6 Bit6 R/W ATH_5 Bit5 R/W ATH_4 Bit4 R/W ATH_3 Bit3 R/W ATH_2 Bit2 R/W R/W ATH_1 ATH_0 Bit1 Bit0 I2C Address: 0x4Dh Reset Value 00001000 WUF_COUNTER This register sets the time motion must be present before a wake-up interrupt is set. Every count is calculated as 1/OWUF delay period. OWUF is set in WAKE_SLEEP_CTL1. Note: Setting the register to 0xFF disables the WUF_COUNTER. R/W WUTH7 Bit7 R/W WUTH6 Bit6 R/W WUTH5 Bit5 R/W WUTH4 Bit4 R/W WUTH3 Bit3 R/W WUTH2 Bit2 R/W R/W WUTH1 WUTH0 Bit1 Bit0 2 I C Address: 0x4Eh Reset Value 00000000 BTS_TH This register sets the threshold for Back-to-sleep (motion detect) interrupt. The KXG03 will ship from the factory with this value set to correspond to a change in acceleration of 0.5g. Resolution = 62.5 mg/LSB for FS < ± 16 g. Resolution = 125 mg/LSB for FS = ± 16 g. R/W BTH_7 Bit7 R/W BTH_6 Bit6 R/W BTH_5 Bit5 R/W BTH_4 Bit4 R/W BTH_3 Bit3 R/W BTH_2 Bit2 R/W R/W BTH_1 BTH_0 Bit1 Bit0 I2C Address: 0x4Fh Reset Value 00001000 BTS_COUNTER This register sets the time motion must be present before a Back-to-sleep interrupt is set. Every count is calculated as 16/ OWUF delay period. OWUF is set in WAKE_SLEEP_CTL1. Note: Setting the register to 0xFF disables the BTS_COUNTER. R/W BTSC7 Bit7 R/W BTSC6 Bit6 R/W BTSC5 Bit5 R/W BTSC4 Bit4 R/W BTSC3 Bit3 R/W BTSC2 Bit2 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] R/W R/W BTSC1 BTSC0 Bit1 Bit0 2 I C Address: 0x50h Reset Value 00000000 © 2016 Kionix – All Rights Reserved Page 64 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX_I2C_CTRL_REG Read/Write control register. R/W R/W R/W R/W R/W R/W R/W R/W Reserved Reserved AUX_CTL_POL2 AUX_CTL_POL1 AUX_BUS_SPD AUX_PULL_UP AUX_BYPASS Reserved Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x51h Reset Value 00000001 AUX_CTL_POL2 - Defines control bit polarity for aux2 enable/disable command sequences. 0: ASIC clears selected control bits when enabling auxilary-2 sensor and ASIC sets to 1 selected control bits when disabling aux2 sensor. 1: ASIC sets to 1 selected control bits when enabling auxilary-2 sensor and ASIC clears selected control bits when disabling aux2 sensor. AUX_CTL_POL1 - Defines control bit polarity for aux1 enable/disable command sequences. 0: ASIC clears selected control bits when enabling auxilary-1 sensor and ASIC sets to 1 selected control bits when disabling aux1 sensor. 1: ASIC sets to 1 selected control bits when enabling auxilary-1 sensor and ASIC clears selected control bits when disabling aux1 sensor. AUX_BUS_SPD- Sets I2C bus speed. 0: 100 kHz, 1: 400 kHz AUX_PULL_UP - Active high pull up enable. 0: Pull up disabled. 1: 1.5KΩ pull up resistor enabled. Please not the pull up resistor is automatically disabled when aux_bypass=1 even though aux_pull_up may be set to 1. AUX_BYPASS – Active high bypass enable. 0: Aux I2C not bypassed. 1: Aux I2C pins shorted to main (slave) I2C pins. Pull up disabled. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 65 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX_I2C_SAD1 Read/Write that should be used to store the SAD for auxiliary I2C device 1. R/W SAD1_6 Bit7 R/W SAD1_5 Bit6 R/W SAD1_4 Bit5 R/W SAD1_3 Bit4 R/W SAD1_2 Bit3 R/W SAD1_1 Bit2 R/W R/W SAD1_0 Bit1 Bit0 I2C Address: 0x52h Reset Value 00000000 AUX_I2C_REG1 Read/Write that should be used to store the starting data register address for auxiliary I2C device 1. R/W REG1_7 Bit7 R/W REG1_6 Bit6 R/W REG1_5 Bit5 R/W REG1_4 Bit4 R/W REG1_3 Bit3 R/W REG1_2 Bit2 R/W R/W REG1_1 REG1_0 Bit1 Bit0 I2C Address: 0x53h Reset Value 00000000 AUX_I2C_CTL1 Register address for enable/disable control register for auxiliary I2C device 1. R/W CNTL1_7 Bit7 R/W CNTL1_6 Bit6 R/W CNTL1_5 Bit5 R/W CNTL1_4 Bit4 R/W CNTL1_3 Bit3 R/W CNTL1_2 Bit2 R/W R/W CNTL1_1 CNTL1_0 Reset Value 00000000 Bit1 Bit0 2 I C Address: 0x54h AUX_I2C_BIT1 Defines bits to toggle in the control register for auxiliary I2C device 1. R/W BIT1_7 Bit7 R/W BIT1_6 Bit6 R/W BIT1_5 Bit5 R/W BIT1_4 Bit4 R/W BIT1_3 Bit3 R/W BIT1_2 Bit2 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] R/W R/W BIT1_1 BIT1_0 Bit1 Bit0 I2C Address: 0x55h Reset Value 00000000 © 2016 Kionix – All Rights Reserved Page 66 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX_I2C_ODR1_W Defines register read controls for auxiliary I2C device 1. R/W Reserved Bit7 R/W R/W R/W R/W R/W R/W R/W Reset AUX1_D2 AUX1_D1 AUX1_D0 AUX1ODRW3 AUX1ODRW2 AUX1ODRW1 AUX1ODRW0 Value 00000110 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x56h AUX1_D[2:0]: Number of bytes read back via Auxiliary I2C bus from device 1 [2] 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 No. of 0 Bytes 1 2 3 4 5 6 DNE AUX1ODRW[3:0]: Determines rate at which aux1 output is polled by ASIC in aux1 wake state [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 1600Hz 1600Hz 1600Hz 1600Hz 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 67 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX_I2C_ODR1_S Defines register read controls for auxiliary I2C device 1. R/W R/W R/W R/W Reserved Bit7 Reserved Bit6 Reserved Bit5 R/W R/W R/W R/W Reset Reserved AUX1ODRS3 AUX1ODRS2 AUX1ODRS1 AUX1ODRS0 Value 00000110 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x57h AUX1ODRS[3:0]: Determines rate at which aux1 output is polled by ASIC in aux1 sleep state [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 1600Hz 1600Hz 1600Hz 1600Hz AUX_I2C_SAD2 Read/Write that should be used to store the SAD for auxiliary I2C device 2. R/W SAD2_6 Bit7 R/W SAD2_5 Bit6 R/W SAD2_4 Bit5 R/W SAD2_3 Bit4 R/W SAD2_2 Bit3 R/W SAD2_1 Bit2 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] R/W R/W SAD2_0 Bit1 Bit0 I2C Address: 0x58h Reset Value 00000000 © 2016 Kionix – All Rights Reserved Page 68 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX_I2C_REG2 Read/Write that should be used to store the starting data register address for auxiliary I2C device 2. R/W REG2_7 Bit7 R/W REG2_6 Bit6 R/W REG2_5 Bit5 R/W REG2_4 Bit4 R/W REG2_3 Bit3 R/W REG2_2 Bit2 R/W R/W REG2_1 REG2_0 Bit1 Bit0 I2C Address: 0x59h Reset Value 00000000 AUX_I2C_CTL2 Register address for enable/disable control register for auxiliary I2C device 2. R/W CNTL2_7 Bit7 R/W CNTL2_6 Bit6 R/W CNTL2_5 Bit5 R/W CNTL2_4 Bit4 R/W CNTL2_3 Bit3 R/W CNTL2_2 Bit2 R/W R/W CNTL2_1 CNTL2_0 Reset Value 00000000 Bit1 Bit0 2 I C Address: 0x5Ah AUX_I2C_BIT2 Defines bits to toggle in the control register for auxiliary I2C device 2. R/W BIT2_7 Bit7 R/W BIT2_6 Bit6 R/W BIT2_5 Bit5 R/W BIT2_4 Bit4 R/W BIT2_3 Bit3 R/W BIT2_2 Bit2 R/W R/W BIT2_1 BIT2_0 Bit1 Bit0 I2C Address: 0x5Bh Reset Value 00000000 AUX_I2C_ODR2_W Defines register read controls for auxiliary I2C device 2. R/W Reserved Bit7 R/W R/W R/W R/W R/W R/W R/W Reset AUX2_D2 AUX2_D1 AUX2_D0 AUX2ODRW3 AUX2ODRW2 AUX2ODRW1 AUX2ODRW0 Value 00000110 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x5Ch 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 69 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX2_D[2:0]: Number of bytes read back via Auxiliary I2C bus from device 2 [2] 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 No. of Bytes 0 1 2 3 4 5 6 DNE AUX2ODRW[3:0]: Determines rate at which aux2 output is polled by ASIC in aux2 wake state [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 1600Hz 1600Hz 1600Hz 1600Hz 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 70 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 AUX_I2C_ODR2_S Defines register read controls for auxiliary I2C device 2. R/W R/W R/W R/W Reserved Bit7 Reserved Bit6 Reserved Bit5 R/W R/W R/W R/W Reset Reserved AUX2ODRS3 AUX2ODRS2 AUX2ODRS1 AUX2ODRS0 Value 00000110 Bit4 Bit3 Bit2 Bit1 Bit0 I2C Address: 0x5Dh AUX2ODRS[3:0]: Determines rate at which aux2 output is polled by ASIC in aux2 sleep state [3] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 [2] 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 [1] 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 [0] 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Output Data Rate 0.781Hz 1.563Hz 3.125Hz 6.25Hz 12.5Hz 25Hz 50Hz 100Hz 200Hz 400Hz 800Hz 1600Hz 1600Hz 1600Hz 1600Hz 1600Hz BUF_WMITH_L Read/write control register that controls the buffer sample threshold. R/W SMP_TH1 Bit7 R/W SMP_TH0 Bit6 R/W Reserved Bit5 R/W Reserved Bit4 R/W Reserved Bit3 R/W Reserved Bit2 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] R/W R/W Reserved Reserved Bit1 Bit0 I2C Address: 0x75h Reset Value 00000000 © 2016 Kionix – All Rights Reserved Page 71 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 BUF_WMITH_H Read/write control register that controls the buffer sample threshold. R/W SMP_TH9 Bit7 R/W SMP_TH8 Bit6 R/W SMP_TH7 Bit5 R/W SMP_TH6 Bit4 R/W SMP_TH5 Bit3 R/W SMP_TH4 Bit2 R/W R/W SMP_TH3 SMP_TH2 Reset Value Bit1 Bit0 00000000 I2C Address: 0x76h SMP_TH[9:0] Sample Threshold; determines the number of data packets (ODR cycles) in a watermark interrupt in FIFO, Stream, FILO, or TRIGGER mode. BUF_TRIGTH_L Read/write control register that controls the buffer sample threshold. R/W TRIG_TH1 Bit7 R/W TRIG_TH0 Bit6 R/W Reserved Bit5 R/W Reserved Bit4 R/W Reserved Bit3 R/W Reserved Bit2 R/W R/W Reserved Reserved Bit1 Bit0 I2C Address: 0x77h Reset Value 00000000 BUF_TRIGTH_H Read/write control register that controls the buffer sample threshold. R/W R/W TRIG_TH9 TRIG_TH8 Bit7 Bit6 R/W R/W R/W TRIG_TH7 TRIG_TH6 TRIG_TH5 Bit5 Bit4 Bit3 R/W TRIG_TH4 Bit2 R/W R/W TRIG_TH3 TRIG_TH2 Reset Value Bit1 Bit0 00000000 I2C Address: 0x78h TRIG_TH[9:0] Trigger Threshold; determines the number of data packets (ODR cycles) that will trigger an interrupt in Trigger mode. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 72 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 BUF_CTL2 Read/write control register that controls sample buffer input in wake mode. R/W Reserved Bit7 R/W R/W BUF_TEMP_ BUF_ACC_ W W_X Bit6 Bit5 R/W R/W R/W BUF_ACC_ BUF_ACC_ BUF_GYR_ W_Y W_Z W_X Bit4 Bit3 Bit2 R/W R/W BUF_GYR_ BUF_GYR_ Reset W_Y W_Z Value Bit1 Bit0 00000000 I2C Address: 0x79h BUF_TEMP_W controls the Temperature input into the sample buffer. BUF_TEMP_W = 0 – Temperature data is not input into the sample buffer BUF_TEMP_W = 1 – Temperature data is input into the sample buffer BUF_ACC_W[XYZ] controls the Accelerometer axis input into the sample buffer. BUF_ACC_W = 0 – Accelerometer data is not input into the sample buffer BUF_ACC_W = 1 – Accelerometer data is input into the sample buffer BUF_GYR_W[XYZ] controls the Gyroscope axis input into the sample buffer. BUF_GYR_W = 0 – Gyroscope data is not input into the sample buffer BUF_GYR_W = 1 – Gyroscope data is input into the sample buffer BUF_CTL3 Read/write control register that controls sample buffer input in sleep mode. R/W Reserved Bit7 R/W R/W R/W R/W R/W R/W R/W BUF_TEMP_ BUF_ACC_ BUF_ACC_ BUF_ACC_ BUF_GYR_ BUF_GYR_ BUF_GYR_ S S_X S_Y S_Z S_X S_Y S_Z Reset Value Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000000 I2C Address: 0x7Ah BUF_TEMP_S controls the Temperature input into the sample buffer. BUF_TEMP_S = 0 – Temperature data is not input into the sample buffer BUF_TEMP _S= 1 – Temperature data is input into the sample buffer BUF_ACC_S[XYZ] controls the Accelerometer axis input into the sample buffer. BUF_ACC_S = 0 – Accelerometer data is not input into the sample buffer BUF_ACC_S = 1 – Accelerometer data is input into the sample buffer BUF_GYR_S[XYZ] controls the Gyroscope axis input into the sample buffer. BUF_GYR_S = 0 – Gyroscope data is not input into the sample buffer BUF_GYR_S = 1 – Gyroscope data is input into the sample buffer 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 73 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 BUF_CTL4 Read/write control register that controls aux1 and aux2 buffer input. R/W R/W R/W R/W R/W R/W R/W R/W Reserved Reserved Reserved Reserved BUF_AUX2_S BUF_AUX1_S BUF_AUX2_W BUF_AUX1_W Reset Value Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 00000000 I2C Address: 0x7Bh BUF_AUX2_S controls the aux2 input into the sample buffer in sleep mode. BUF_AUX2_S = 0 – aux2 data is not input into the sample buffer BUF_AUX2 _S= 1 – aux2 data is input into the sample buffer BUF_AUX1_S controls the aux1 axis input into the sample buffer in sleep mode. BUF_AUX1_S = 0 – aux1 data is not input into the sample buffer BUF_AUX1_S = 1 – aux1 data is input into the sample buffer BUF_AUX2_W controls the aux2 input into the sample buffer in wake mode. BUF_AUX2_W = 0 – aux2 data is not input into the sample buffer BUF_AUX2 _W= 1 – aux2 data is input into the sample buffer BUF_AUX1_W controls the aux1 axis input into the sample buffer in wake mode. BUF_AUX1_W = 0 – aux1 data is not input into the sample buffer BUF_AUX1_W = 1 – aux1 data is input into the sample buffer BUF_EN Read/write control register that controls sample buffer operation. R/W BUFE Bit7 R/W Reserved Bit6 R/W Reserved Bit5 R/W R/W R/W Reserved BUF_SYM1 BUF_SYM0 Bit4 Bit3 Bit2 R/W R/W BUF_M1 BUF_M0 Bit1 Bit0 I2C Address: 0x7Ch Reset Value 00000000 BUFE – controls activation of the sample buffer. BUFE = 0 – sample buffer inactive BUFE = 1 – sample buffer active 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 74 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 BUF_SYM1, BUF_SYM0 – Symbol mode select. BUF_SYM1 BUF_SYM0 0 0 0 1 1 0 1 1 Description Symbol mode disabled. ASIC does not insert symbols into buffer output data stream. Single symbol mode enabled. ASIC inserts x8000 between complete data sets whenever wake/sleep mode changes. ASIC replaces x8000 in gyroscope, accelerometer and die temp data with x8001 codes. Dual symbol mode enables. ASIC inserts x8000 between complete data sets to indicate wake-to-sleep transitions, and x8001 to indicate sleep-to-wake transitions. Symbols are only inserted when wake/sleep state changes. ASIC replaces x8000 and x8001 gyroscope, accelerometer, and die temperature output data codes with x8002. Dual symbol mode for every frame. ASIC inserts x8000 or x8001 symbols between every complete data set (frame) according to the current wake/sleep state. BUF_M1, BUF_M0 selects the operating mode of the sample buffer. BUF_M1 BUF_M0 Mode 0 0 FIFO 0 1 Stream 1 0 Trigger 1 1 FILO Description The buffer collects 1024 bytes of data until full, collecting new data only when the buffer is not full. The buffer holds the last 1024 bytes of data. Once the buffer is full, the oldest data is discarded to make room for newer data. When a trigger event occurs (logic high input on TRIG pin), the buffer holds the last data set of SMP[6:0] samples before the trigger event and then continues to collect data until full. New data is collected only when the buffer is not full. The buffer holds the last 1024 bytes of data. Once the buffer is full, the oldest data is discarded to make room for newer data. Reading from the buffer in this mode will return the most recent data first. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 75 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 BUF_STATUS This register reports the status of the sample buffer trigger function. R/W BUF_TRIG Bit7 R/W 0 Bit6 R/W 0 Bit5 R/W 0 Bit4 R/W 0 Bit3 R/W 0 Bit2 R/W R/W 0 0 Bit1 Bit0 I2C Address: 0x7Dh 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. BUF_CLEAR Latched buffer status information and the entire sample buffer are cleared when any data is written to this register. R/W X Bit7 R/W X Bit6 R/W X Bit5 R/W X Bit4 R/W X Bit3 R/W X Bit2 R/W R/W X X Bit1 Bit0 I2C Address: 0x7Eh BUF_READ Data from the buffer should be read using a single SAD+R command. The auto-increment feature of the buffer will continue to increment the read pointer to the next data in the buffer until the specified number of bytes is read. Output data is in 2’s Complement format. R X Bit7 R X Bit6 R X Bit5 R X Bit4 R X Bit3 R X Bit2 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] R R X X Bit1 Bit0 I2C Address: 0x7Fh © 2016 Kionix – All Rights Reserved Page 76 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Sample Buffer Feature Description The 1024 byte sample buffer feature of the KXG03 accumulates and outputs data based on how it is configured. There are 4 buffer modes available. Data is collected at the ODR specified by the corresponding Wake and Sleep mode registers. 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. BUF_RES=0: SMPX = SMP_LEV[9:0] – SMP_TH[9:0] Equation 5: Samples above Sample Threshold Stream 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 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 5). 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 77 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Trigger Mode Data Accumulation When a logic high signal occurs on the TRIG pin, the trigger event is asserted and TRIG[9:0] 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 TRIG[9:0] samples in the buffer, BUF_TRIG in BUF_STATUS 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 5). 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 modes operate. Figure 8 represents a high-resolution 3-axis sample within the buffer. Figure 9 through Figure 17 represent a 10-sample version of the buffer (for simplicity), with Sample Threshold set to 8. Regardless of the selected mode, the buffer fills sequentially, one byte at a time. Figure 8 shows one 6-byte data sample. Note the location of the FILO read pointer versus that of the FIFO read pointer. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 78 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 buffer write pointer -- Index 0 1 2 3 4 5 6 Byte X_L X_H Y_L Y_H Z_L Z_H -- FIFO read pointer -- FILO read pointer Figure 8: One Buffer Sample Regardless of the selected mode, the buffer fills sequentially, one sample at a time. Note in Figure 9 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 → Index Sample 0 Data0 1 Data1 2 Data2 ← FIFO read pointer ← FILO read pointer 3 4 5 6 7 ← Sample Threshold 8 9 Figure 9: Buffer Filling 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 79 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 The buffer continues to fill sequentially until the Sample Threshold is reached. Note in Figure 10 the location of the FILO read pointer versus that of the FIFO read pointer. buffer write pointer → Index Sample 0 Data0 1 Data1 2 Data2 3 Data3 4 Data4 5 Data5 6 Data6 7 ← FIFO read pointer ← FILO read pointer ← Sample Threshold 8 9 Figure 10: 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. buffer write pointer → Index Sample 0 Data0 ← FIFO read pointer 1 Data1 2 Data2 3 Data3 4 Data4 5 Data5 6 Data6 7 Data7 ← Sample Threshold/FILO read pointer 8 9 Figure 11: Buffer at Sample Threshold 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 80 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 In trigger mode, data is accumulated in the buffer sequentially until the Trigger Threshold is reached. Once the Trigger Threshold is reached, the oldest samples are discarded when new samples are collected. Note in Figure 12 how Data0 was thrown out to make room for Data8. Trigger write pointer → Index 0 1 2 3 4 5 6 7 8 9 Sample Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 ← Trigger read pointer ← Trigger Threshold Figure 12: 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 13. This results in the buffer holding TRIG_TH[9:0] samples prior to the trigger event, and TRIGX samples after the trigger event. Index 0 1 2 3 4 5 6 Sample Data1 Data2 Data3 Data4 Data5 Data6 Data7 ← Trigger read pointer 7 Data8 ← Trigger Threshold 8 Data9 9 Data10 Figure 13: Additional Data after Trigger Event 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 81 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 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 0 1 2 3 4 5 6 7 8 9 Sample Data0 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 ← FIFO read pointer ← Sample Threshold ← FILO read pointer Figure 14: 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 15 how Data0 was thrown out to make room for Data10. Index 0 1 2 3 4 5 6 7 8 9 Sample Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Data9 Data10 ← FIFO read pointer ← Sample Threshold ← FILO read pointer Figure 15: Buffer Full – Additional Sample Accumulation in Stream or FILO Mode 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 82 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 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 16. 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 16: 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 17. 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 17: FILO Read from Full Buffer 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 83 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Notice Precaution on using KIONIX Products 1. Our Products are designed and manufactured for application in ordinary electronic equipment (such as AV equipment, OA equipment, telecommunication equipment, home electronic appliances, amusement equipment, etc.). If you intend to use our Products in devices requiring extremely high reliability (such as medical equipment (Note 1), transport equipment, traffic equipment, aircraft/spacecraft, nuclear power controllers, fuel controllers, car equipment including car accessories, safety devices, etc.) and whose malfunction or failure may cause loss of human life, bodily injury or serious damage to property (“Specific Applications”), please consult with the KIONIX sales representative in advance. Unless otherwise agreed in writing by KIONIX in advance, KIONIX shall not be in any way responsible or liable for any damages, expenses or losses incurred by you or third parties arising from the use of any KIONIX’s Products for Specific Applications. (Note1) Medical Equipment Classification of the Specific Applications JAPAN USA EU CHINA CLASSⅢ CLASSⅡb CLASSⅢ CLASSⅢ CLASSⅣ CLASSⅢ 2. KIONIX designs and manufactures its Products subject to strict quality control system. However, semiconductor products can fail or malfunction at a certain rate. Please be sure to implement, at your own responsibilities, adequate safety measures including but not limited to fail-safe design against the physical injury, damage to any property, which a failure or malfunction of our Products may cause. The following are examples of safety measures: a) Installation of protection circuits or other protective devices to improve system safety b) Installation of redundant circuits to reduce the impact of single or multiple circuit failure 3. Our Products are designed and manufactured for use under standard conditions and not under any special or extraordinary environments or conditions, as exemplified below. Accordingly, KIONIX shall not be in any way responsible or liable for any damages, expenses or losses arising from the use of any KIONIX’s Products under any special or extraordinary environments or conditions. If you intend to use our Products under any special or extraordinary environments or conditions (as exemplified below), your independent verification and confirmation of product performance, reliability, etc., prior to use, must be necessary: a) Use of our Products in any types of liquid, including water, oils, chemicals, and organic solvents b) Use of our Products outdoors or in places where the Products are exposed to direct sunlight or dust c) Use of our Products in places where the Products are exposed to sea wind or corrosive gases, including Cl2, H2S, NH3, SO2, and NO2 d) Use of our Products in places where the Products are exposed to static electricity or electromagnetic waves e) Use of our Products in proximity to heat-producing components, plastic cords, or other flammable items f) Sealing or coating our Products with resin or other coating materials g) Use of our Products without cleaning residue of flux (even if you use no-clean type fluxes, cleaning residue of flux is recommended); or Washing our Products by using water or water-soluble cleaning agents for cleaning residue after soldering h) Use of the Products in places subject to dew condensation 4. The Products are not subject to radiation-proof design. 5. Please verify and confirm characteristics of the final or mounted products in using the Products. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 84 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 6. In particular, if a transient load (a large amount of load applied in a short period of time, such as pulse. Is applied, confirmation of performance characteristics after on-board mounting is strongly recommended. Avoid applying power exceeding normal rated power; exceeding the power rating under steady-state loading condition may negatively affect product performance and reliability. 7. De-rate Power Dissipation (Pd) depending on ambient temperature (Ta). When used in sealed area, confirm the actual ambient temperature. 8. Confirm that operation temperature is within the specified range described in the product specification. 9. KIONIX shall not be in any way responsible or liable for failure induced under deviant condition from what is defined in this document. Precaution for Mounting / Circuit board design 1. When a highly active halogenous (chlorine, bromine, etc.) flux is used, the residue of flux may negatively affect product performance and reliability. 2. In principle, the reflow soldering method must be used; if flow soldering method is preferred, please consult with the KIONIX representative in advance. For details, please refer to KIONIX Mounting specification. Precautions Regarding Application Examples and External Circuits 1. If change is made to the constant of an external circuit, please allow a sufficient margin considering variations of the characteristics of the Products and external components, including transient characteristics, as well as static characteristics. 2. You agree that application notes, reference designs, and associated data and information contained in this document are presented only as guidance for Products use. Therefore, in case you use such information, you are solely responsible for it and you must exercise your own independent verification and judgment in the use of such information contained in this document. KIONIX shall not be in any way responsible or liable for any damages, expenses or losses incurred by you or third parties arising from the use of such information. Precaution for Electrostatic This Product is electrostatic sensitive product, which may be damaged due to electrostatic discharge. Please take proper caution in your manufacturing process and storage so that voltage exceeding the Products maximum rating will not be applied to Products. Please take special care under dry condition (e.g. Grounding of human body / equipment / solder iron, isolation from charged objects, setting of Ionizer, friction prevention and temperature / humidity control). Precaution for Storage / Transportation 1. Product performance and soldered connections may deteriorate if the Products are stored in the places where: a) the Products are exposed to sea winds or corrosive gases, including Cl2, H2S, NH3, SO2, and NO2 b) the temperature or humidity exceeds those recommended by KIONIX c) the Products are exposed to direct sunshine or condensation d) the Products are exposed to high Electrostatic 2. Even under KIONIX recommended storage condition, solderability of products out of recommended storage time period may be degraded. It is strongly recommended to confirm solderability before using Products of which storage time is exceeding the recommended storage time period. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 85 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 3. Store / transport cartons in the correct direction, which is indicated on a carton with a symbol. Otherwise bent leads may occur due to excessive stress applied when dropping of a carton. 4. Use Products within the specified time after opening a humidity barrier bag. Baking is required before using Products of which storage time is exceeding the recommended storage time period. 5. Precaution for Product Label QR code printed on KIONIX Products label is for KIONIX’s internal use only. Precaution for Disposition When disposing Products please dispose them properly using an authorized industry waste company. Precaution for Foreign Exchange and Foreign Trade act Since our Products might fall under controlled goods prescribed by the applicable foreign exchange and foreign trade act, please consult with KIONIX representative in case of export. Precaution Regarding Intellectual Property Rights 1. All information and data including but not limited to application example contained in this document is for reference only. KIONIX does not warrant that foregoing information or data will not infringe any intellectual property rights or any other rights of any third party regarding such information or data. KIONIX shall not be in any way responsible or liable for infringement of any intellectual property rights or other damages arising from use of such information or data. 2. No license, expressly or implied, is granted hereby under any intellectual property rights or other rights of KIONIX or any third parties with respect to the information contained in this document. Other Precaution 1. This document may not be reprinted or reproduced, in whole or in part, without prior written consent of KIONIX. 2. The Products may not be disassembled, converted, modified, reproduced or otherwise changed without prior written consent of KIONIX. 3. In no event shall you use in any way whatsoever the Products and the related technical information contained in the Products or this document for any military purposes, including but not limited to, the development of massdestruction weapons. 4. The proper names of companies or products described in this document are trademarks or registered trademarks of KIONIX, its affiliated companies or third parties. General Precaution 1. Before you use our Products, you are requested to carefully read this document and fully understand its contents. KIONIX shall not be in any way responsible or liable for failure, malfunction or accident arising from the use of any KIONIX’s Products against warning, caution or note contained in this document. 2. All information contained in this document is current as of the issuing date and subject to change without any prior notice. Before purchasing or using KIONIX’s Products, please confirm the latest information with a KIONIX sales representative. 3. The information contained in this document is provided on an “as is” basis and KIONIX does not warrant that all information contained in this document is accurate and/or error-free. KIONIX shall not be in any way responsible or liable for any damages, expenses or losses incurred by you or third parties resulting from inaccuracy or errors of or concerning such information. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 86 of 87 Kionix Confidential Digital Tri-axis Gyroscope/ Tri-axis Accelerometer PRELIMINARY Specifications PART NUMBER: KXG03 Rev. 0.19 11-Feb-16 Revision History REVISION 0.1 0.4 0.5 0.6 0.7 0.8 0.9 0.10 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 DESCRIPTION Initial preliminary release Updated user register information 3-wire SPI support removed, added power mode details, minor updates Updated POR section including plot, I2C Timing Diagram, minor typos + formatting (Figure captions, headings) Changed INS to INT for both interrupts source registers Changed BUF_CTRL in the register description section to BUF_CTL to align with ASIC spec (and Register Map). Fixed bit names for I_CTL (0 vs. 1 and W vs. S) Synchronize with SharePoint update Updated RoHS and REACH compliance Formatting Updates Updated Application Schematic and Pin Descriptions table Updated Package Dimensions figure 2 Fixed Temp_Out register I2C address value Added note that AUX_ERR can be cleared through writing any value to AUX_STATUS register Added note that LPMODE_W =1 (I_ODR_WAKE) and LPMODE_S = 1 (I_ODR_SLEEP) is ignored if I or Gyro ODR ≥ 400Hz. Added Trigger mode in the BUF_WMI_TH description. Revised description that BUFE = 1 (BUF_EN) can be used independent of RES. Added note that setting WUFC = 0xFF disables the wake up engine, and setting BTSC = 0xFF disables the BTS engine Added Product Notice section Updated AUX_CNT_POL1/2 bit description. Added Accelerometer Current over ODR. Accelerometer high resolution current changed. Gyro Start up time description updated. 1034 I2C and 1047 SPI versions. Mechanical specs at 2.5V. Added Table 14 Temperature Calculation. Revised BUF_READ register description. Revised Reading from 8-bit Register section. Revised 4-Wire Read and Write Registers section. Corrected Table 3 as 128counts/C. Removed 1047 version and added note when using SPI, added I2C_DIS bit to CTL_REG_1. Updated gyro startup time to 80ms typical. Updated Gyro start up time definition, gyro thermal slope, and RMS noise. Added Accelerometer start up time over ODR, sensitivity and offset limits. Added Temperature sensor interrupt details. DATE 26 Mar 2015 22 Apr 2015 06 Jun 2015 01 Jul 2015 20 Jul 2015 25 Aug 2015 27 Aug 2015 31 Aug 2015 31 Aug 2015 01 Sep 2015 23 Sep 2015 10 Oct 2015 24 Nov 2015 25 Nov 2015 7-Dec 2015 8 Jan 2016 9 Feb 2016 "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. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - [email protected] © 2016 Kionix – All Rights Reserved Page 87 of 87 Kionix Confidential