Specification

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.
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tel: 607-257-1080 – fax:607-257-1146
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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
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tel: 607-257-1080 – fax:607-257-1146
www.kionix.com - [email protected]
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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
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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
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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
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tel: 607-257-1080 – fax:607-257-1146
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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
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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
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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.
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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
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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.
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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
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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.
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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.
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tel: 607-257-1080 – fax:607-257-1146
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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.
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tel: 607-257-1080 – fax:607-257-1146
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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
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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.
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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
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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
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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.
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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.
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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.
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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
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DATA
NACK
DATA
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PART NUMBER:
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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.
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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)
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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.
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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
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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.
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PART NUMBER:
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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
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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.
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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.
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© 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
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© 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
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tel: 607-257-1080 – fax:607-257-1146
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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
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© 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
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© 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
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tel: 607-257-1080 – fax:607-257-1146
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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
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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
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tel: 607-257-1080 – fax:607-257-1146
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© 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
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© 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
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© 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
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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
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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
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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
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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.
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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
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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
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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
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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
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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.
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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.
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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.
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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
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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
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© 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
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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
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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
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© 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
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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
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© 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.
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Specifications
PART NUMBER:
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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
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R
R
X
X
Bit1
Bit0
I2C Address: 0x7Fh
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Digital Tri-axis Gyroscope/ Tri-axis
Accelerometer PRELIMINARY
Specifications
PART NUMBER:
KXG03
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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).
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Specifications
PART NUMBER:
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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.
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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
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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
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Specifications
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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
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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
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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
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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
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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,
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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
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H2S, NH3, SO2, and NO2
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g) Use of our Products without cleaning residue of flux (even if you use no-clean type fluxes, cleaning residue of
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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.
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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
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2. You agree that application notes, reference designs, and associated data and information contained in this
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This Product is electrostatic sensitive product, which may be damaged due to electrostatic discharge. Please take
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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
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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
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5.
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of or concerning such information.
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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.
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