ETC KXTF9

PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Product Description
The KXTF9 is a tri-axis +/-2g, +/-4g or +/-8g silicon
micromachined accelerometer with integrated orientation,
tap/double tap, and activity detecting algorithms. The sense
element is fabricated using Kionix’s proprietary plasma
micromachining process technology. Acceleration sensing is
based on the principle of a differential capacitance arising from
acceleration-induced motion of the sense element, which
further utilizes common mode cancellation to decrease errors
from process variation, temperature, and environmental stress.
The sense element is hermetically sealed at the wafer level by
bonding a second silicon lid wafer to the device using a glass
frit. A separate ASIC device packaged with the sense element
provides
signal
conditioning,
and
intelligent
userprogrammable application algorithms. The accelerometer is
delivered in a 3 x 3 x 0.9 mm LGA plastic package operating
from a 1.8 – 3.6V DC supply. I2C interface is used to
communicate to the chip to configure and check updates to the orientation, Directional TapTM
detection and activity monitoring algorithms.
Functional Diagram
X
Sensor
Y
Sensor
Charge
Amp
A/D
Z
Sensor
Vdd 5
IO Vdd 1
I 2C
Digital Engine
Digital
Filter
GND 4
7
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9
10
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091222-00
Page 1 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Product Specifications
Table 1. Mechanical
(specifications are for operation at 1.8V and T = 25C unless stated otherwise)
Min
Typical
Operating Temperature Range
Parameters
ºC
-40
-
85
Zero-g Offset
mg
-125
-
+125
Zero-g Offset Variation from RT over Temp.
Units
Sensitivity (12-bit)
Sensitivity (8-bit)
1
GSEL1=0, GSEL0=1 (± 4g)
GSEL1=1, GSEL0=0 (± 8g)
GSEL1=0, GSEL=0 (± 2g)
GSEL1=0, GSEL0=1 (± 4g)
GSEL1=1, GSEL0=0 (± 8g)
Sensitivity Variation from RT over Temp.
Offset Ratiometric Error (Vdd = 1.8V ± 5%)
0.7 (xy)
0.4 (z)
mg/ºC
GSEL1=0, GSEL=0 (± 2g)
1
counts/g
counts/g
988
1024
494
512
530
247
61
30
15
256
64
32
16
265
67
34
17
0.3
Sensitivity Ratiometric Error (Vdd = 1.8V ± 5%)
%
0.4 (xy)
0.2 (z)
Self Test Output change on Activation
g
0.9 (x)
0.8 (y)
0.7 (z)
Hz
3500 (xy)
1800 (z)
Non-Linearity
Cross Axis Sensitivity
Notes:
2
1060
0.01 (xy)
0.03 (z)
%/ºC
%
Mechanical Resonance (-3dB)
Max
% of FS
1
%
2
2
1. Resolution and acceleration ranges are user selectable via I C.
2. Resonance as defined by the dampened mechanical sensor.
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091222-00
Page 2 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Table 2. Electrical
(specifications are for operation at 1.8V and T = 25C unless stated otherwise)
Parameters
Supply Voltage (Vdd)
Operating
I/O Pads Supply Voltage (VIO)
Units
Min
Typical
Max
V
1.8
1.7
1.8
3.6
Vdd
470
570
670
-
230
0.9 * Vio
0.8 * Vio
0.1
0
0.050
160
80
40
20
10
5
2.5
20
12.5
50
1.59
ODR/2
V
All On (Res = 1)
Current Consumption All On (RES = 0)
µA
Standby
1
Output Low Voltage
Output High Voltage
Input Low Voltage
Input High Voltage
Input Pull-down Current
RES = 0
RES = 1, ODR = 12.5Hz
RES = 1, ODR = 25 Hz
RES = 1, ODR = 50Hz
2
Start Up Time
RES = 1, ODR = 100Hz
RES = 1, ODR = 200Hz
RES = 1, ODR = 400Hz
RES = 1, ODR = 800Hz
3
Power Up Time
2
I C Communication Rate
Output Data Rate (ODR)4
Bandwidth (-3dB)5
RES = 0
RES = 1
V
V
V
V
µA
ms
ms
KHz
Hz
KHz
Hz
0.3 * Vio
0.2 * Vio
-
400
800
Notes:
1. Assuming I2C communication and minimum 1.5Kohm pull-up resistor on SCL and
SDA pins.
2. Start up time is from PC1 set to valid outputs.
3. Power up time is from Vdd valid to device boot completion.
4. User selectable through I2C.
5. User selectable and dependant on ODR and RES.
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Page 3 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Table 3. Environmental
Units
Min
Typical
Max
Supply Voltage (Vdd) Absolute Limits
Operating Temperature Range
Parameters
V
ºC
-0.3
-40
-
6.0
85
Storage Temperature Range
ºC
-55
-
Mech. Shock (powered and unpowered)
g
-
-
ESD
V
-
-
150
5000 for 0.5ms
10000 for 0.2ms
2000
HBM
Caution: ESD Sensitive and Mechanical Shock Sensitive Component, improper handling
can cause permanent damage to the device.
This product conforms to Directive 2002/95/EC of the European Parliament and of the
Council of the European Union (RoHS). Specifically, this product does not contain lead,
mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), or
polybrominated diphenyl ethers (PBDE) above the maximum concentration values
(MCV) by weight in any of its homogenous materials. Homogenous materials are "of
uniform composition throughout."
HF
This product is halogen-free per IEC 61249-2-21. Specifically, the materials used in this
product contain a maximum total halogen content of 1500 ppm with less than 900-ppm
bromine and less than 900-ppm chlorine.
Soldering
Soldering recommendations are available upon request or from www.kionix.com.
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Page 4 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Application Schematic
Table 4. KXTF9 Pin Descriptions
Pin
Name
Description
1
2
3
4
5
6
7
8
9
10
IO Vdd
DNC
DNC
GND
Vdd
DNC
INT
DNC
SCL
SDA
The power supply input for the digital communication bus. Decouple this pin to ground with a 0.1uF ceramic capacitor.
Reserved – Do Not Connect
Reserved – Do Not Connect
Ground
The power supply input. Decouple this pin to ground with a 1uF ceramic capacitor.
Reserved – Do Not Connect
Physical Interrupt
Reserved – Do Not Connect
I2C Serial Clock
I2C Serial Data
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091222-00
Page 5 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Test Specifications
!
Special Characteristics:
These characteristics have been identified as being critical to the customer. Every part is tested to
verify its conformance to specification prior to shipment.
Table 5. Test Specifications
Parameter
Zero-g Offset @ RT
Sensitivity @ RT
Current Consumption -- Operating
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Specification
0 +/- 128 counts
1024 +/- 36 counts/g
470 <= Idd <= 670 uA
Test Conditions
25C, Vdd = 1.8 V
25C, Vdd = 1.8 V
25C, Vdd = 1.8 V
© 2009 Kionix – All Rights Reserved
091222-00
Page 6 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Package Dimensions and Orientation
3 x 3 x 0.9 mm LGA
All dimensions and tolerances conform to ASME Y14.5M-1994
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091222-00
Page 7 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Orientation
+Y
Pin 1
+X
+Z
When device is accelerated in +X, +Y or +Z direction, the corresponding output will increase.
Static X/Y/Z Output Response versus Orientation to Earth’s surface (1g):
GSEL1=0, GSEL0=0 (± 2g)
Position
1
2
3
Diagram
Resolution (bits)
X (counts)
Y (counts)
Z (counts)
X-Polarity
Y-Polarity
Z-Polarity
4
5
Top
6
Bottom
Bottom
Top
12
8
12
8
12
8
12
8
12
8
12
8
0 1024 64
0
3072 192
0
0
0
0
0
0
1024 64
0
0 3072 192
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1024 64 3072 192
0
0
+
0
0
0
+
0
0
0
0
0
0
0
0
+
(1g)
Earth’s Surface
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Page 8 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Static X/Y/Z Output Response versus Orientation to Earth’s surface (1g):
GSEL1=0, GSEL0=1 (± 4g)
Position
1
2
3
4
Diagram
Resolution (bits)
X (counts)
Y (counts)
Z (counts)
X-Polarity
Y-Polarity
Z-Polarity
12
8
0
0
512 32
0
0
0
0
+
0
12
512
0
0
8
12
8
12
8
32
0
3584 224
0
0 3584 224
0
0
0
0
0
0
0
+
0
0
0
0
0
0
5
Top
6
Bottom
Bottom
Top
12
0
0
512
8
12
8
0
0
0
0
0
0
32 3584 224
0
0
+
0
0
-
(1g)
Earth’s Surface
Static X/Y/Z Output Response versus Orientation to Earth’s surface (1g):
GSEL1=1, GSEL0=0 (± 8g)
Position
1
2
3
4
Diagram
Resolution (bits)
X (counts)
Y (counts)
Z (counts)
X-Polarity
Y-Polarity
Z-Polarity
12
8
0
0
256 16
0
0
0
0
+
0
12
256
0
0
8
12
8
12
8
16
0
3840 240
0
0 3840 240
0
0
0
0
0
0
0
+
0
0
0
0
0
0
5
Top
6
Bottom
Bottom
Top
12
0
0
256
0
0
+
8
12
8
0
0
0
0
0
0
16 3840 240
0
0
-
(1g)
Earth’s Surface
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091222-00
Page 9 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
KXTF9 Digital Interface
The Kionix KXTF9 digital accelerometer has the ability to communicate on the I2C digital serial interface
bus. This flexibility allows for easy system integration by eliminating analog-to-digital converter
requirements and by providing direct communication with system micro-controllers.
The serial interface terms and descriptions as indicated in Table 6 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 6. Serial Interface Terminologies
I2C Serial Interface
As previously mentioned, the KXTF9 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
KXTF9 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.
I2C Operation
Transactions on the I2C bus begin after the Master transmits a start condition (S), which is defined as a
high-to-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 Slave Address associated with the KXTF9 is 0001111.
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
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Page 10 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
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.
Writing to a KXTF9 8-bit Register
Upon power up, the Master must write to the KXTF9’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 KXTF9
ACK has been returned, an 8-bit Register Address (RA) command is transmitted by the Master. This
command is telling the KXTF9 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 KXTF9 acknowledges the RA and the
Master transmits the data to be stored in the 8-bit register. The KXTF9 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
KXTF9 is now stored in the appropriate register. The KXTF9 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.
Reading from a KXTF9 8-bit Register
When reading data from a KXTF9 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 KXTF9 acknowledges and the
Master transmits the 8-bit RA of the register it wants to read. The KXTF9 again acknowledges, and the
Master transmits a repeated start condition (Sr). After the repeated start condition, the Master addresses
the KXTF9 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 KXTF9 automatically increments through its sequential registers, allowing data to be read from multiple
registers following a single SAD+R command as shown below in Sequence 4 on the following page.
If a receiver cannot transmit or receive another complete byte of data until it has performed some other
function, it can hold SCL low to force the transmitter into a wait state. Data transfer only continues when
the receiver is ready for another byte and releases SCL.
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Page 11 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
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. Table 7 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 7. 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
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RA
ACK
Sr
ACK
SAD + R
ACK
ACK
DATA
NACK
DATA
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Page 12 of 41
P
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
KXTF9 Embedded Registers
The KXTF9 has 39 embedded 8-bit registers that are accessible by the user. This section contains the
addresses for all embedded registers and also describes bit functions of each register. Table 8 below
provides a listing of the accessible 8-bit registers and their addresses.
Register Name
XOUT_HPF_L
XOUT_HPF_H
YOUT_HPF_L
YOUT_HPF_H
ZOUT_HPF_L
ZOUT_HPF_H
XOUT_L
XOUT_H
YOUT_L
YOUT_H
ZOUT_L
ZOUT_H
DCST_RESP
Not Used
Not Used
WHO_AM_I
TILT_POS_CUR
TILT_POS_PRE
Kionix Reserved
Kionix Reserved
Kionix Reserved
INT_SRC_REG1
INT_SRC_REG2
Not Used
STATUS_REG
Not Used
INT_REL
CTRL_REG1*
CTRL_REG2*
CTRL_REG3*
INT_CTRL_REG1*
INT_CTRL_REG2*
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Type
Read/Write
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R/W
R/W
R/W
R/W
R/W
I2C Read/Write Address
Hex
Binary
0x00
0000 0000
0x01
0000 0001
0x02
0000 0010
0x03
0000 0011
0x04
0001 0100
0x05
0001 0101
0x06
0000 0110
0x07
0000 0111
0x08
0000 1000
0x09
0000 1001
0x0A
0001 1010
0x0B
0001 1011
0x0C
0000 1100
0x0D
0000 1101
0x0E
0000 1110
0x0F
0000 1111
0x10
0001 0000
0x11
0001 0001
0x12
0001 0010
0x13
0001 0011
0x14
0001 0100
0x15
0001 0101
0x16
0001 0110
0x17
0001 0111
0x18
0001 1000
0x19
0001 1001
0x1A
0001 1010
0x1B
0001 1011
0x1C
0001 1100
0x1D
0001 1101
0x1E
0001 1110
0x1F
0001 1111
© 2009 Kionix – All Rights Reserved
091222-00
Page 13 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
INT_CTRL_REG3*
DATA_CTRL_REG*
Not Used
TILT_TIMER*
WUF_TIMER*
Not Used
TDT_TIMER*
TDT_H_THRESH*
TDT_L_THRESH*
TDT_TAP_TIMER*
TDT_TOTAL_TIMER*
TDT_LATENCY_TIMER*
TDT_WINDOW_TIMER*
Reserved
SELF_TEST
Reserved
WUF_THRESH*
Reserved
TILT_ANGLE*
Reserved
HYST_SET*
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
0x20
0x21
0x22 – 0x27
0x28
0x29
0x2A
0x2B
0x2C
0x2D
0x2E
0x2F
0x30
0x31
0x32 – 0x39
0x3A
0x3B – 0x59
0x5A
0x5B
0x5C
0x5D – 0x5E
0x5F
KXTF9-4100
Rev. 1
Dec-2009
0010 0000
0010 0001
0010 1000
0010 1001
0010 1010
0010 1011
0010 1100
0010 1101
0010 1110
0010 1111
0011 0000
0011 0001
0011 1010
0101 1010
0101 1011
0101 1100
0101 1111
* Note: When changing the contents of these registers, the PC1 bit in CTRL_REG1 must
first be set to “0”.
Table 8. KXTF9 Register Map
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091222-00
Page 14 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
KXTF9 Register Descriptions
Accelerometer Outputs
These registers contain up to 12-bits of valid acceleration data for each axis depending on the
setting of the RES bit in CTRL_REG1, where the acceleration outputs are represented in 12-bit
valid data when RES = ‘1’ and 8-bit valid data when RES = ‘0’. The data is updated every userdefined ODR period, is protected from overwrite during each read, and can be converted from
digital counts to acceleration (g) per Figure 9 below.
12-bit Data
Range = +/-2g Range = +/-4g Range = +/-8g
0111 1111 1111
+1.999g
+3.998g
+7.996g
0111 1111 1110
+1.998g
+3.996g
+7.992g
…
…
…
…
+0.001g
+0.002g
+0.004g
0000 0000 0001
0000 0000 0000
0.000g
0.000g
0.000g
1111 1111 1111
-0.001g
-0.002g
-0.004g
…
…
…
…
1000 0000 0001
-1.999g
-3.998g
-7.996g
1000 0000 0000
-2.000g
-4.000g
-8.000g
8-bit Data
0111 1111
0111 1110
…
0000 0001
0000 0000
1111 1111
…
1000 0001
1000 0000
Range = +/-2g Range = +/-4g Range = +/-8g
+1.984g
+3.968g
+7.936g
+1.968g
+3.936g
+7.872g
…
…
…
+0.016g
+0.032g
+0.064g
0.000g
0.000g
0.000g
-0.016g
-0.032g
-0.064g
…
…
…
-1.984g
-3.968g
-7.936g
-2.000g
-4.000g
-8.000g
Figure 9. Acceleration (g) Calculation
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091222-00
Page 15 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
XOUT_HPF_L
X-axis high-pass filtered accelerometer output least significant byte
R
XOUTD3
Bit7
R
XOUTD2
Bit6
R
XOUTD1
Bit5
R
XOUTD0
Bit4
R
X
Bit3
R
X
Bit2
R
R
X
X
Bit1
Bit0
I2C Address: 0x00h
XOUT_HPF_H
X-axis high-pass filtered accelerometer output most significant byte
R
R
R
XOUTD11 XOUTD10 XOUTD9
Bit7
Bit6
Bit5
R
XOUTD8
Bit4
R
XOUTD7
Bit3
R
R
R
XOUTD6 XOUTD5 XOUTD4
Bit2
Bit1
Bit0
2
I C Address: 0x01h
YOUT_HPF_L
Y-axis high-pass filtered accelerometer output least significant byte
R
YOUTD3
Bit7
R
YOUTD2
Bit6
R
YOUTD1
Bit5
R
YOUTD0
Bit4
R
X
Bit3
R
X
Bit2
R
R
X
X
Bit1
Bit0
I2C Address: 0x02h
YOUT_HPF_H
Y-axis high-pass filtered accelerometer output most significant byte
R
R
R
YOUTD11 YOUTD10 YOUTD9
Bit7
Bit6
Bit5
R
YOUTD8
Bit4
R
YOUTD7
Bit3
R
YOUTD6
Bit2
R
YOUTD5
Bit1
R
YOUTD4
Bit0
2
I C Address: 0x03h
ZOUT_HPF_L
Z-axis high-pass filtered accelerometer output least significant byte
R
ZOUTD3
Bit7
R
ZOUTD2
Bit6
R
ZOUTD1
Bit5
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R
ZOUTD0
Bit4
R
X
Bit3
R
X
Bit2
R
R
X
X
Bit1
Bit0
I2C Address: 0x04h
© 2009 Kionix – All Rights Reserved
091222-00
Page 16 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
ZOUT_HPF_H
Z-axis high-pass filtered accelerometer output most significant byte
R
R
R
ZOUTD11 ZOUTD10 ZOUTD9
Bit7
Bit6
Bit5
R
ZOUTD8
Bit4
R
ZOUTD7
Bit3
R
ZOUTD6
Bit2
R
R
ZOUTD5 ZOUTD4
Bit1
Bit0
I2C Address: 0x05h
XOUT_L
X-axis accelerometer output least significant byte
R
XOUTD3
Bit7
R
XOUTD2
Bit6
R
XOUTD1
Bit5
R
XOUTD0
Bit4
R
X
Bit3
R
X
Bit2
R
R
X
X
Bit1
Bit0
2
I C Address: 0x06h
XOUT_H
X-axis accelerometer output most significant byte
R
R
R
XOUTD11 XOUTD10 XOUTD9
Bit7
Bit6
Bit5
R
XOUTD8
Bit4
R
XOUTD7
Bit3
R
R
R
XOUTD6 XOUTD5 XOUTD4
Bit2
Bit1
Bit0
I2C Address: 0x07h
YOUT_L
Y-axis accelerometer output least significant byte
R
YOUTD3
Bit7
R
YOUTD2
Bit6
R
YOUTD1
Bit5
R
YOUTD0
Bit4
R
X
Bit3
R
X
Bit2
R
X
Bit1
R
X
Bit0
2
I C Address: 0x08h
YOUT_H
Y-axis accelerometer output most significant byte
R
R
R
YOUTD11 YOUTD10 YOUTD9
Bit7
Bit6
Bit5
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R
YOUTD8
Bit4
R
YOUTD7
Bit3
R
R
R
YOUTD6 YOUTD5 YOUTD4
Bit2
Bit1
Bit0
2
I C Address: 0x09h
© 2009 Kionix – All Rights Reserved
091222-00
Page 17 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
ZOUT_L
Z-axis accelerometer output least significant byte
R
ZOUTD3
Bit7
R
ZOUTD2
Bit6
R
ZOUTD1
Bit5
R
ZOUTD0
Bit4
R
X
Bit3
R
X
Bit2
R
R
X
X
Bit1
Bit0
I2C Address: 0x0Ah
ZOUT_H
Z-axis accelerometer output most significant byte
R
R
R
ZOUTD11 ZOUTD10 ZOUTD9
Bit7
Bit6
Bit5
R
ZOUTD8
Bit4
R
ZOUTD7
Bit3
R
ZOUTD6
Bit2
R
R
ZOUTD5 ZOUTD4
Bit1
Bit0
I2C Address: 0x0Bh
DCST_RESP
This register can be used to verify proper integrated circuit functionality. It always has a byte value
of 0x55h unless the DCST bit in CTRL_REG3 is set. At that point this value is set to 0xAAh. The
byte value is returned to 0x55h after reading this register.
R
DCSTR7
Bit7
R
DCSTR6
Bit6
R
DCSTR5
Bit5
R
DCSTR4
Bit4
R
DCSTR3
Bit3
R
DCSTR2
Bit2
R
R
DCSTR1 DCSTR0
Bit1
Bit0
I2C Address: 0x0Ch
Reset Value
01010101
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 0x01h.
R
WIA7
Bit7
R
WIA6
Bit6
R
WIA5
Bit5
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R
WIA4
Bit4
R
WIA3
Bit3
R
WIA2
Bit2
R
R
WIA1
WIA0
Bit1
Bit0
I2C Address: 0x0Fh
Reset Value
00000001
© 2009 Kionix – All Rights Reserved
091222-00
Page 18 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Tilt Position Registers
These two registers report previous and current position data that is updated at the user-defined
ODR frequency and is protected during register read. Table 9 describes the reported position for
each bit value.
TILT_POS_CUR
Current tilt position register
R
0
Bit7
R
0
Bit6
R
LE
Bit5
R
RI
Bit4
R
DO
Bit3
R
UP
Bit2
R
FD
Bit1
R
FU
Bit0
Reset Value
00100000
2
I C Address: 0x10h
TILT_POS_PRE
Previous tilt position register
R
0
Bit7
R
0
Bit6
R
LE
Bit5
R
RI
Bit4
R
DO
Bit3
R
UP
Bit2
R
FD
Bit1
R
FU
Bit0
Reset Value
00100000
2
I C Address: 0x11h
Bit
LE
RI
DO
UP
FD
FU
Description
Left State (X-)
Right State (X+)
Down State (Y-)
Up State (Y+)
Face-Down State (Z-)
Face-Up State (Z+)
Table 9. KXTF9 Tilt Position
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091222-00
Page 19 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Interrupt Source Registers
These two registers report function state changes. This data is updated when a new state change
or event occurs and each applications result is latched until the interrupt release register is read.
The motion interrupt bit WUFS can be configured to report data in an unlatched manner via the
interrupt control registers.
INT_SRC_REG1
This register reports which axis and direction detected a single or double tap event, per
Table 10.
R
0
Bit7
R
0
Bit6
R
TLE
Bit5
R
TRI
Bit4
R
TDO
Bit3
R
TUP
Bit2
R
TFD
Bit1
R
TFU
Bit0
2
I C Address: 0x15h
Bit
TLE
TRI
TDO
TUP
TFD
TFU
Description
X Negative (X-) Reported
X Positive (X+) Reported
Y Negative (Y-) Reported
Y Positive (Y+) Reported
Z Negative (Z-) Reported
Z Positive (Z+) Reported
Table 10. KXTF9 Directional TapTM Reporting
INT_SRC_REG2
This register reports which function caused an interrupt. Reading from the interrupt release
register will clear the entire contents of this register.
R
0
Bit7
R
0
Bit6
R
0
Bit5
R
DRDY
Bit4
R
TDTS1
Bit3
R
TDTS0
Bit2
R
R
WUFS
TPS
Bit1
Bit0
2
I C Address: 0x16h
DRDY indicates that new acceleration data is available. This bit is cleared when
acceleration data is read or the interrupt release register is read.
DRDY = 0 – new acceleration data not available
DRDY = 1 – new acceleration data available
TDTS1, TDTS0 indicates whether a single or double-tap event was detected per
Table 11.
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Page 20 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
TDTS1
0
0
1
1
KXTF9-4100
Rev. 1
Dec-2009
TDTS0
Event
0
No Tap
1
Single Tap
0
Double Tap
1
DNE
Table 11. Directional TapTM Event Description
TPS reflects the status of the tilt position function.
TPS = 0 – tilt position state has not changed
TPS = 1 – tilt position state has changed
STATUS_REG
This register reports the status of the interrupt.
R
0
Bit7
R
0
Bit6
R
0
Bit5
R
INT
Bit4
R
0
Bit3
R
0
Bit2
R
R
0
0
Bit1
Bit0
2
I C Address: 0x18h
INT reports the combined interrupt information of all enabled functions. This bit is
released to 0 when the interrupt source latch register (1Ah) is read.
INT = 0 – no interrupt event
INT = 1 – interrupt event has occurred
INT_REL
Latched interrupt source information (INT_SRC_REG1 and INT_SRC_REG2), the status register,
and the physical interrupt pin (7) are cleared when reading this register.
R
X
Bit7
R
X
Bit6
R
X
Bit5
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R
X
Bit4
R
X
Bit3
R
X
Bit2
R
R
X
X
Bit1
Bit0
I2C Address: 0x1Ah
© 2009 Kionix – All Rights Reserved
091222-00
Page 21 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
CTRL_REG1
Read/write control register that controls the main feature set.
R/W
PC1
Bit7
R/W
RES
Bit6
R/W
DRDYE
Bit5
R/W
GSEL1
Bit4
R/W
GSEL0
Bit3
R/W
TDTE
Bit2
R/W
R/W
WUFE
TPE
Bit1
Bit0
I2C Address: 0x1Bh
Reset Value
00000000
PC1 controls the operating mode of the KXTF9.
PC1 = 0 - stand-by mode
PC1 = 1 – operating mode
RES determines the performance mode of the KXTF9. Note that to change the value of
this bit, the PC1 bit must first be set to “0”.
RES = 0 – low current, 8-bit valid
RES = 1- high current, 12-bit valid
DRDYE enables the reporting of the availability of new acceleration data on the interrupt.
Note that to change the value of this bit, the PC1 bit must first be set to “0”.
DRDYE = 0 – availability of new acceleration data not reflected on interrupt pin (7)
DRDYE = 1- availability of new acceleration data reflected on interrupt pin (7)
GSEL1, GSEL0 selects the acceleration range of the accelerometer outputs per Table 12.
Note that to change the value of this bit, the PC1 bit must first be set to “0”.
GSEL1 GSEL0
0
0
0
1
1
0
1
1
Range
+/-2g
+/-4g
+/-8g
NA
Table 12. Selected Acceleration Range
TDTE enables the Directional TapTM function that will detect single and double tap events.
Note that to change the value of this bit, the PC1 bit must first be set to “0”.
TDTE = 0 – disable
TDTE = 1- enable
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091222-00
Page 22 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
WUFE enables the Wake Up (motion detect) function that will detect a general motion
event. Note that to change the value of this bit, the PC1 bit must first be set to “0”.
WUFE = 0 – disable
WUFE = 1- enable
TPE enables the Tilt Position function that will detect changes in device orientation. Note
that to change the value of this bit, the PC1 bit must first be set to “0”.
TPE = 0 – disable
TPE = 1- enable
CTRL_REG2
Read/write control register that controls tilt position state enabling. Per Table 13, if a state’s bit is
set to one (1), a transition into the corresponding orientation state will generate an interrupt. If it is
set to zero (0), a transition into the corresponding orientation state will not generate an interrupt.
Note that to properly change the value of this register, the PC1 bit in CTRL_REG1 must first be set
to “0”.
R/W
0
Bit7
R/W
0
Bit6
R/W
LEM
Bit5
R/W
RIM
Bit4
R/W
DOM
Bit3
R/W
UPM
Bit2
R/W
FDM
Bit1
R/W
FUM
Bit0
Reset Value
00111111
2
I C Address: 0x1Ch
Bit
LEM
RIM
DOM
UPM
FDM
FUM
Description
Left State
Right State
Down State
Up State
Face-Down State
Face-Up State
Table 13. Tilt Position State Enabling
CTRL_REG3
Read/write control register that provides more feature set control. Note that to properly change the
value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
SRST
Bit7
R/W
OTPA
Bit6
R/W
OTPB
Bit5
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R/W
DCST
Bit4
R/W
OTDTA
Bit3
R/W
OTDTB
Bit2
R/W
R/W
OWUFA OWUFB
Bit1
Bit0
2
I C Address: 0x1Dh
Reset Value
01001101
© 2009 Kionix – All Rights Reserved
091222-00
Page 23 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
SRST initiates software reset, which performs the RAM reboot routine. This bit will remain
1 until the RAM reboot routine is finished.
SRST = 0 – no action
SRST = 1 – start RAM reboot routine
OTPA, OTPB sets the output data rate for the Tilt Position function per Table 14. The
default Tilt Position ODR is 12.5Hz.
OTPA
0
0
1
1
OTPB
0
1
0
1
Output Data Rate
1.6Hz
6.3Hz
12.5Hz
50Hz
Table 14. Tilt Position Function Output Data Rate
DCST initiates the digital communication self-test function.
DCST = 0 – no action
DCST = 1 – sets ST_RESP register to 0xAAh and when ST_RESP is read, sets
this bit to 0 and sets ST_RESP to 0x55h
OTDTA, OTDTB sets the output data rate for the Directional TapTM function per Table 15.
The default Directional TapTM ODR is 400Hz.
OTDTA OTDTB Output Data Rate
0
0
50Hz
0
1
100Hz
1
0
200Hz
1
1
400Hz
Table 15. Directional TapTM Function Output Data Rate
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091222-00
Page 24 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
OWUFA, OWUFB sets the output data rate for the general motion detection function and
the high-pass filtered outputs per Table 16. The default Motion Wake Up ODR is
50Hz.
OWUFA OWUFB Output Data Rate
0
0
25Hz
0
1
50Hz
1
0
100Hz
1
1
200Hz
Table 16. Motion Wake Up Function Output Data Rate
INT_CTRL_REG1
This register controls the settings for the physical interrupt pin (7). Note that to properly change the
value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
0
Bit7
R/W
0
Bit6
R/W
IEN
Bit5
R/W
IEA
Bit4
R/W
IEL
Bit3
R/W
IEU
Bit2
R/W
0
Bit1
R/W
0
Bit0
Reset Value
00010000
2
I C Address: 0x1Eh
IEN enables/disables the physical interrupt pin (7)
IEN = 0 – physical interrupt pin (7) is disabled
IEN = 1 – physical interrupt pin (7) is enabled
IEA sets the polarity of the physical interrupt pin (7)
IEA = 0 – polarity of the physical interrupt pin (7) is active low
IEA = 1 – polarity of the physical interrupt pin (7) is active high
IEL sets the response of the physical interrupt pin (7)
IEL = 0 – the physical interrupt pin (7) latches until it is cleared by reading INT_REL
IEL = 1 – the physical interrupt pin (7) will transmit one pulse with a period of 0.05ms
IEU sets an alternate unlatched response for the physical interrupt pin (7) when the motion
interrupt feature (WUF) only is enabled.
IEU = 0 – the physical interrupt pin (7) latches or pulses per the IEL bit until it is
cleared by reading INT_REL
IEU = 1 – the physical interrupt pin (7) will follow an unlatched response if the motion
interrupt feature is enabled
36 Thornwood Dr. – Ithaca, NY 14850
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091222-00
Page 25 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
INT_CTRL_REG2
This register controls motion detection axis enabling. Per Table 17, if an axis’ bit is set to one (1),
a motion on that axis will generate an interrupt. If it is set to zero (0), a motion on that axis will not
generate an interrupt. Note that to properly change the value of this register, the PC1 bit in
CTRL_REG1 must first be set to “0”.
R/W
XBW
Bit7
R/W
YBW
Bit6
R/W
ZBW
Bit5
R/W
0
Bit4
R/W
0
Bit3
Bit
XBW
YBW
ZBW
R/W
0
Bit2
R/W
R/W
0
0
Bit1
Bit0
I2C Address: 0x1Fh
Reset Value
11100000
Description
X-Axis Motion
Y-Axis Motion
Z-Axis Motion
Table 17. Motion Detection Axis Enabling
INT_CTRL_REG3
This register controls the tap detection direction axis enabling. Per Table 18, if a direction’s bit is
set to one (1), a single or double tap in that direction will generate an interrupt. If it is set to zero
(0), a single or double tap in that direction will not generate an interrupt. Note that to properly
change the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
0
Bit7
R/W
0
Bit6
R/W
TLEM
Bit5
R/W
TRIM
Bit4
Bit
TLEM
TRIM
TDOM
TUPM
TFDM
TFUM
R/W
TDOM
Bit3
R/W
TUPM
Bit2
R/W
R/W
TFDM
TFUM
Bit1
Bit0
2
I C Address: 0x20h
Reset Value
00111111
Description
X Negative (X-)
X Positive (X+)
Y Negative (Y-)
Y Positive (Y+)
Z Negative (Z-)
Z Positive (Z+)
Table 18. Directional TapTM Axis Mask
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091222-00
Page 26 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
DATA_CTRL_REG
Read/write control register that configures the acceleration outputs. Note that to properly change
the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
0
Bit7
R/W
0
Bit6
R/W
HPFROA
Bit5
R/W
HPROB
Bit4
R/W
0
Bit3
R/W
OSAA
Bit2
R/W
R/W
OSAB
OSAC
Bit1
Bit0
2
I C Address: 0x21h
Reset Value
00000010
HPFROA, HPFROB sets the roll-off frequency for the first-order high-pass filter in
conjunction with the output data rate (OWUFA, OWUFB) that is chosen for the HPF
acceleration outputs that are used in the Motion Wake Up (WUF) application per Table 19.
Note that this roll-off frequency is also applied to the X, Y and Z high-pass filtered outputs.
High-Pass Filter Configuration
HPFROA HPFROB Beta HPF Roll-Off (Hz)
0
0
7/8
ODR / 50
0
1
15/16
ODR / 100
1
0
31/32
ODR / 200
1
1
63/64
ODR / 400
Table 19. High-Pass Filter Roll-Off Frequency
OSAA, OSAB, OSAC sets the output data rate (ODR) for the low-pass filtered
acceleration outputs per Table 20.
OSAA
0
0
0
0
1
1
1
1
OSAB
0
0
1
1
0
0
1
1
OSAC
0
1
0
1
0
1
0
1
Output Data Rate
12.5Hz
25Hz
50Hz
100Hz
200Hz
400Hz
800Hz
Does Not Exist
LPF Roll-Off
6.25Hz
12.5Hz
25Hz
50Hz
100Hz
200Hz
400Hz
Does Not Exist
Table 20. LPF Acceleration Output Data Rate (ODR)
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© 2009 Kionix – All Rights Reserved
091222-00
Page 27 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
TILT_TIMER
This register is the initial count register for the tilt position state timer (0 to 255 counts). Every count
is calculated as 1/ODR delay period, where the ODR is user-defined per Table 14. A new state must
be valid as many measurement periods before the change is accepted. Note that to properly change
the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
TSC7
Bit7
R/W
TSC6
Bit6
R/W
TSC5
Bit5
R/W
TSC4
Bit4
R/W
TSC3
Bit3
R/W
TSC2
Bit2
R/W
R/W
TSC1
TSC0
Bit1
Bit0
I2C Address: 0x28h
Reset Value
00000000
WUF_TIMER
This register is the initial count register for the motion detection timer (0 to 255 counts). Every
count is calculated as 1/ODR delay period, where the ODR is user-defined per Table 16. A new
state must be valid as many measurement periods before the change is accepted. Note that to
properly change the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
WUFC7
Bit7
R/W
WUFC6
Bit6
R/W
WUFC5
Bit5
R/W
WUFC4
Bit4
R/W
WUFC3
Bit3
R/W
R/W
R/W
WUFC2 WUFC1 WUFC0
Bit2
Bit1
Bit0
I2C Address: 0x29h
Reset Value
00000000
TDT_TIMER
This register contains counter information for the detection of a double tap event. Every count is
calculated as 1/ODR delay period, where the ODR is user-defined per Table 15. TDT_TIMER
represents the minimum time separation between the first tap and the second tap in a double tap
event. The Kionix recommended default value is 0.3 seconds (0x78h). Note that to properly change
the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
TDTC7
Bit7
R/W
TDTC6
Bit6
R/W
TDTC5
Bit5
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R/W
TDTC4
Bit4
R/W
TDTC3
Bit3
R/W
TDTC2
Bit2
R/W
R/W
TDTC1
TDTC0
Bit1
Bit0
2
I C Address: 0x2Bh
Reset Value
01111000
© 2009 Kionix – All Rights Reserved
091222-00
Page 28 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
TDT_H_THRESH
This register represents the 9-bit jerk high threshold to determine if a tap is detected. The
Performance Index (PI) is the jerk signal that is expected to be less than this threshold, but greater
than the TDT_L_THRESH threshold during single and double tap events. Note that to properly
change the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”. The Kionix
recommended default value is 182 (0xB6h) and the Performance Index is calculated as:
X’ = X(current) – X(previous)
Y’ = Y(current) – Y(previous)
Z’ = Z(current) – Z(previous)
PI = |X’| + |Y’| + |Z’|
Equation 1. Performance Index
R/W
TTH8
Bit7
R/W
TTH7
Bit6
R/W
TTH6
Bit5
R/W
TTH5
Bit4
R/W
TTH4
Bit3
R/W
TTH3
Bit2
R/W
R/W
TTH2
TTH1
Bit1
Bit0
I2C Address: 0x2Ch
Reset Value
10110110
TDT_L_THRESH
This register represents the 7-bit jerk low threshold to determine if a tap is detected. The
Performance Index (PI) is the jerk signal that is expected to be greater than this threshold and less
than the TDT_H_THRESH threshold during single and double tap events. This register also
contains the LSB of the TDT_H_THRESH threshold. The Kionix recommended default value is 26
(0x1Ah). Note that to properly change the value of this register, the PC1 bit in CTRL_REG1 must
first be set to “0”.
R/W
TTH0
Bit7
R/W
TTL6
Bit6
R/W
TTL5
Bit5
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R/W
TTL4
Bit4
R/W
TTL3
Bit3
R/W
TTL2
Bit2
R/W
R/W
TTL1
TTL0
Bit1
Bit0
2
I C Address: 0x2Dh
Reset Value
00011010
© 2009 Kionix – All Rights Reserved
091222-00
Page 29 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
TDT_TAP_TIMER
This register contains counter information for the detection of any tap event. Every count is
calculated as 1/ODR delay period, where the ODR is user-defined per Table 17. In order to ensure
that only tap events are detected, these time limits are used. A tap event must be above the
performance index threshold (TDT_THRESH) for at least the low limit (FTDL0 – FTDL2) and no
more than the high limit (FTDH0 – FTDH4). The Kionix recommended default value for the high
limit is 0.05 seconds and for the low limit is 0.005 seconds (0xA2h). Note that to properly change
the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
FTDH4
Bit7
R/W
FTDH3
Bit6
R/W
FTDH2
Bit5
R/W
FTDH1
Bit4
R/W
FTDH0
Bit3
R/W
FTDL2
Bit2
R/W
R/W
FTDL1
FTDL0
Bit1
Bit0
I2C Address: 0x2Eh
Reset Value
10100010
TDT_TOTAL_TIMER
This register contains counter information for the detection of a double tap event. Every count is
calculated as 1/ODR delay period, where the ODR is user-defined per Table 17. In order to ensure
that only tap events are detected, this time limit is used. This register sets the total amount of time
that the two taps in a double tap event can be above the PI threshold (TDT_L_THRESH). The
Kionix recommended default value for TDT_TOTAL_TIMER is 0.09 seconds (0x24h). Note that to
properly change the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
STD7
Bit7
R/W
STD6
Bit6
R/W
STD5
Bit5
R/W
STD4
Bit4
R/W
STD3
Bit3
R/W
STD2
Bit2
R/W
STD1
Bit1
R/W
STD0
Bit0
Reset Value
00100100
2
I C Address: 0x2Fh
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© 2009 Kionix – All Rights Reserved
091222-00
Page 30 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
TDT_LATENCY_TIMER
This register contains counter information for the detection of a tap event. Every count is calculated
as 1/ODR delay period, where the ODR is user-defined per Table 17. In order to ensure that only
tap events are detected, this time limit is used. This register sets the total amount of time that the
tap algorithm will count samples that are above the PI threshold (TDT_L_THRESH) during a
potential tap event. It is used during both single and double tap events. However, reporting of
single taps on the physical interrupt pin (7) will occur at the end of the TDT_WINDOW_TIMER. The
Kionix recommended default value for TDT_LATENCY_TIMER is 0.1 seconds (0x28h). Note that
to properly change the value of this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
TLT7
Bit7
R/W
TLT6
Bit6
R/W
TLT5
Bit5
R/W
TLT4
Bit4
R/W
TLT3
Bit3
R/W
TLT2
Bit2
R/W
R/W
TLT1
TLT0
Bit1
Bit0
2
I C Address: 0x30h
Reset Value
00101000
TDT_WINDOW_TIMER
This register contains counter information for the detection of single and double taps. Every count
is calculated as 1/ODR delay period, where the ODR is user-defined per Table 17. It defines the
time window for the entire tap event, single or double, to occur. Reporting of single taps on the
physical interrupt pin (7) will occur at the end of this tap window. The Kionix recommended default
value for TDT_WINDOW_TIMER is 0.4 seconds (0xA0h). Note that to properly change the value of
this register, the PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
TWS7
Bit7
R/W
TWS6
Bit6
R/W
TWS5
Bit5
R/W
TWS4
Bit4
R/W
TWS3
Bit3
R/W
TWS2
Bit2
R/W
TWS1
Bit1
R/W
TWS0
Bit0
Reset Value
10100000
2
I C Address: 0x31h
SELF_TEST
When 0xCA is written to this register, the MEMS self-test function is enabled. Electrostaticactuation of the accelerometer, results in a DC shift of the X, Y and Z axis outputs. Writing 0x00 to
this register will return the accelerometer to normal operation.
R/W
1
Bit7
R/W
1
Bit6
R/W
0
Bit5
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R/W
0
Bit4
R/W
1
Bit3
R/W
0
Bit2
R/W
R/W
1
0
Bit1
Bit0
I2C Address: 0x3Ah
Reset Value
00000000
© 2009 Kionix – All Rights Reserved
091222-00
Page 31 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
WUF_THRESH
This register sets the acceleration threshold, WUF Threshold that is used to detect a general motion
input. The KXTF9 will ship from the factory with WUF_THRESH set to a change in acceleration of
0.5g. Note that to properly change the value of this register, the PC1 bit in CTRL_REG1 must first
be set to “0”.
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
WUFTH7 WUFTH6 WUFTH5 WUFTH4 WUFTH3 WUFTH2 WUFTH1 WUFTH0
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
I2C Address: 0x5Ah
Reset Value
00001000
TILT_ANGLE
This register sets the tilt angle that is used to detect the transition from Face-up/Face-down states
to Screen Rotation states. The KXTF9 ships from the factory with tilt angle set to a low threshold of
26° from horizontal. A different default tilt angle can be requested from the factory. Note that the
minimum suggested tilt angle is 10°. Note that to properly change the value of this register, the
PC1 bit in CTRL_REG1 must first be set to “0”.
R/W
TA7
Bit7
R/W
TA6
Bit6
R/W
TA5
Bit5
R/W
TA4
Bit4
R/W
TA3
Bit3
R/W
TA2
Bit2
R/W
R/W
TA1
TA0
Bit1
Bit0
I2C Address: 0x5Ch
Reset Value
00001100
HYST_SET
This register sets the Hysteresis that is placed in between the Screen Rotation states. The KXTF9
ships from the factory with HYST_SET set to +/-15° of hysteresis. A different default hysteresis can
be requested from the factory. Note that when writing a new value to this register the current
values of RES0, RES1, RES2 and RES3 must be preserved. These values are set at the factory
and must not change. Note that to properly change the value of this register, the PC1 bit in
CTRL_REG1 must first be set to “0”.
R/W
RES2
Bit7
R/W
RES1
Bit6
R/W
RES0
Bit5
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R/W
HYST4
Bit4
R/W
HYST3
Bit3
R/W
R/W
R/W
HYST2 HYST1 HYST0
Bit2
Bit1
Bit0
I2C Address: 0x5Fh
Reset Value
---10100
© 2009 Kionix – All Rights Reserved
091222-00
Page 32 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
KXTF9 Embedded Applications
Orientation Detection Feature
The orientation detection feature of the KXTF9 will report changes in face up, face down, +/- vertical and
+/- horizontal orientation. This intelligent embedded algorithm considers very important factors that provide
accurate orientation detection from low cost tri-axis accelerometers. Factors such as: hysteresis, device
orientation angle and delay time are described below as these techniques are utilized inside the KXTF9.
Hysteresis
A 45° tilt angle threshold seems like a good choice because it is halfway between 0° and 90°.
However, a problem arises when the user holds the device near 45°. Slight vibrations, noise and
inherent sensor error will cause the acceleration to go above and below the threshold rapidly and
randomly, so the screen will quickly flip back and forth between the 0° and the 90° orientations.
This problem is avoided in the KXTF9 by choosing a 30° threshold angle. With a 30° threshold, the
screen will not rotate from 0° to 90° until the device is tilted to 60° (30° from 90°). To rotate back to
0°, the user must tilt back to 30°, thus avoiding the screen flipping problem. This example
essentially applies +/- 15° of hysteresis in between the four screen rotation states. Table 21 shows
the acceleration limits implemented for φ T =30°.
Orientation X Acceleration (g) Y Acceleration (g)
-0.5 < ax < 0.5
ay > 0.866
0°/360°
ax > 0.866
-0.5 < ay < 0.5
90°
180°
-0.5 < ax < 0.5
ay < -0.866
ax < -0.866
-0.5 < ay < 0.5
270°
Table 21. Acceleration at the four orientations with +/- 15° of hysteresis
The KXTF9 allows the user to change the amount of hysteresis in between the four screen rotation
states. By simply writing to the HYST_SET register, the user can adjust the amount of hysteresis
up to +/- 45°. The plot in Figure 1 shows the typical amount of hysteresis applied for a given digital
count value of HYST_SET.
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091222-00
Page 33 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
HYST_SET vs Hysteresis
50
45
Hysteresis (+/- degrees)
40
35
30
25
Hysteresis
20
15
10
5
0
0
5
10
15
20
25
30
HYST_SET Value (Counts)
Figure 1. HYST_SET vs Hysteresis
Device Orientation Angle (aka Tilt Angle)
To ensure that horizontal and vertical device orientation changes are detected, even when it isn’t in
the ideal vertical orientation – where the angle θ in Figure 2 is 90°, the KXTF9 considers device
orientation angle in its algorithm.
Angle θ
Figure 2. Device Orientation Angle
As the angle in Figure 2 is decreased, the maximum gravitational acceleration on the X-axis or Yaxis will also decrease. Therefore, when the angle becomes small enough, the user will not be able
to make the screen orientation change. When the device orientation angle approaches 0° (device
is flat on a desk or table), ax = ay = 0g, az = +1g, and there is no way to determine which way the
screen should be oriented, the internal algorithm determines that the device is in either the face-up
or face-down orientation, depending on the sign of the z-axis. The KXTF9 will only change the
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091222-00
Page 34 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
screen orientation when the orientation angle is above the factory-defaulted/user-defined threshold
set in the TILT_ANGLE register. Equation 2 can be used to determine what value to write to the
TILT_ANGLE register to set the device orientation angle.
TILT_ANGLE (counts) = sin θ * (32 (counts/g))
Equation 2. Tilt Angle Threshold
Tilt Timer
The 8-bit register, TILT_TIMER can be used to qualify changes in orientation. The KXTF9 does this
by incrementing a counter with a size that is specified by the value in TILT_TIMER for each set of
acceleration samples to verify that a change to a new orientation state is maintained. A user
defined output data rate (ODR) determines the time period for each sample. Equation 3 shows how
to calculate the TILT_TIMER register value for a desired delay time.
TILT_TIMER (counts) = Delay Time (sec) x ODR (Hz)
Equation 3. Tilt Position Delay Time
Motion Interrupt Feature Description
The Motion interrupt feature of the KXTF9 reports qualified changes in the high-pass filtered acceleration
based on the Wake Up (WUF) threshold. If the high-pass filtered acceleration on any axis is greater than
the user-defined wake up threshold (WUF_THRESH), the device has transitioned from an inactive state to
an active state. When configured in the unlatched mode, the KXTF9 will report when the motion event
finished and the device has returned to an inactive state. Equation 4 shows how to calculate the
WUF_THRESH register value for a desired wake up threshold.
WUF_THRESH (counts) = Wake Up Threshold (g) x 16 (counts/g)
Equation 4. Wake Up Threshold
A WUF (WUF_TIMER) 8-bit raw unsigned value represents a counter that permits the user to qualify each
active/inactive state change. Note that each WUF Timer count qualifies 1 (one) user-defined ODR period
(OWUF). Equation 5 shows how to calculate the WUF_TIMER register value for a desired wake up delay
time.
WUF_TIMER (counts) = Wake Up Delay Time (sec) x OWUF (Hz)
Equation 5. Wake Up Delay Time
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091222-00
Page 35 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Figure 3 below shows the latched response of the motion detection algorithm with WUF Timer = 10 counts.
Typical Motion Interrupt Example
HPF Acceleration
WUF Threshold
0g
10
WUF Timer
Ex: Delay Counter = 10
Motion
Inactive
Figure 3. Latched Motion Interrupt Response
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PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Figure 4 below shows the unlatched response of the motion detection algorithm with WUF Timer = 10
counts.
Typical Motion Interrupt Example
HPF Acceleration
WUF Threshold
0g
10
WUF Timer
Ex: Delay Counter = 10
Motion
Inactive
Figure 4. Unlatched Motion Interrupt Response
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091222-00
Page 37 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Directional Tap Detection Feature Description
The Directional Tap Detection feature of the KXTF9 recognizes single and double tap inputs and reports
the acceleration axis and direction that each tap occurred. Eight performance parameters, as well as a
user-selectable ODR are used to configure the KXTF9 for a desired tap detection response.
Performance Index
The Directional TapTM detection algorithm uses low and high thresholds to help determine when a
tap event has occurred. A tap event is detected when the previously described jerk summation
exceeds the low threshold (TDT_L_THRESH) for more than the tap detection low limit, but less
than the tap detection high limit as contained in TDT_TAP_TIMER. Samples that exceed the high
limit (TDT_H_THRESH) will be ignored. Figure 5 shows an example of a single tap event meeting
the performance index criteria.
Calculated Performance Index
PI
180
: Sampled Data
160
140
jerk (counts)
120
100
80
60
40
TDT_L_THRESH
20
0
3.14
3.15
3.16
3.17
3.18
time(sec)
3.19
3.2
3.21
Figure 5. Jerk Summation vs Threshold
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PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Single Tap Detection
The latency timer (TDT_LATENCY_TIMER) sets the time period that a tap event will only be
characterized as a single tap. A second tap has to occur outside of the latency timer. If a second
tap occurs inside the latency time, it will be ignored as it occurred too quickly. The single tap will be
reported at the end of the TDT_WINDOW_TIMER. Figure 6 shows a single tap event meeting the
PI, latency and window requirements.
Calculated Performance Index
160
PI
140
TDT_WINDOW_TIMER
120
jerk (counts)
100
TDT_LATENCY_TIMER
80
60
40
TDT_L_THRESH
20
0
2.1
2.2
2.3
2.4
2.5
2.6
2.7
time(sec)
2.8
2.9
3
3.1
Figure 6. Single Directional TapTM Timing
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091222-00
Page 39 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Double Tap Detection
An event can be characterized as a double tap only if the second tap crosses the performance
index (TDT_L_THRESH) outside the TDT_TIMER. This means that the TDT_TIMER determines
the minimum time separation that must exist between the two taps of a double tap event. Similar to
the single tap, the second tap event must exceed the performance index for the time limit contained
in TDT_TAP_TIMER.
The double tap will be reported at the end of the second
TDT_LATENCY_TIMER. Figure 7 shows a double tap event meeting the PI, latency and window
requirements.
Calculated Performance Index
PI
TDT_WINDOW_TIMER
200
jerk (counts)
150
TDT_TIMER
100
TDT_LATENCY_TIMER
TDT_LATENCY_TIMER
50
TDT_L_THRESH
0
3.1
3.2
3.3
3.4
3.5
time(sec)
3.6
3.7
3.8
3.9
Figure 7. Double Directional TapTM Timing
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Page 40 of 41
PART NUMBER:
± 2g Tri-axis Digital Accelerometer
Specifications
KXTF9-4100
Rev. 1
Dec-2009
Revision History
REVISION
1
DESCRIPTION
Initial Release
DATE
18-Dec-2009
"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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091222-00
Page 41 of 41