[AK09973D]
AK09973D
3D Magnetic Smart Switch Sensor
1.
General Description
AK09973D is a 3D magnetic smart switch sensor IC with high sensitivity and wide measurement range
utilizing our latest Hall sensor technology.
Our ultra-small package of AK09973D incorporates magnetic sensors, chopper stabilized signal
amplifier chain, and all necessary interface logic for detecting weak to strong magnetic fields in the Xaxis, Y-axis and Z-axis independently. From its compact foot print, thin package, and extremely low
power consumption, it is suitable for a smartphone and wearable application.
2.
◆
◆
◆
◆
◆
Features
Functions:
➢ 16-bit data out for each 3-axis magnetic component
➢ Built-in A to D Converter for magnetometer data output
➢ Sensor measurement range and sensitivity
High sensitivity setting
⚫ Sensitivity: 1.1 µT/LSB (typ.)
⚫ Measurement range: ±36 mT
Wide range setting
⚫ Sensitivity: 3.1 µT/LSB (typ.)
⚫ Measurement range: X and Y-axis → ±34.9 mT, Z-axis → ±101.5 mT
➢ Serial interface
I2C bus interface
Standard mode, Fast mode and Fast mode plus
Two selectable slave addresses
➢ Operation mode
Power-down, Single measurement, Continuous measurement, Self-test
➢ 3-axis programmable switch function
➢ Output pin for event notification
OD-INT pin
➢ DRDY function for measurement data ready
➢ Magnetic sensor overflow monitor function
➢ Built-in power on reset function
➢ Built-in oscillator for internal clock source
➢ Selectable sensor drive
Low power drive / Low noise drive
Operating temperature:
➢
-30˚C to +85˚C
Operating supply voltage:
➢
1.65 V to 1.95 V
Current consumption (VDD = 1.8 V, +25˚C):
➢ Power-down:
1.0 µA (typ.)
➢ Measurement:
Average current consumption at 10 Hz / 100 Hz repetition rate
⚫ Low power drive: 3.5 µA(typ.) at 10 Hz, 22 µA(typ.) at 100 Hz
⚫ Low noise drive: 11 µA(typ.) at 10 Hz, 101 µA(typ.) at 100 Hz
Package
➢ AK09973D 5-pin WL-CSP (BGA) package: 1.18 mm × 0.78 mm × 0.55 mm
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3.
Table of Contents
1.
2.
3.
4.
General Description ............................................................................................................................ 1
Features .............................................................................................................................................. 1
Table of Contents ................................................................................................................................ 2
Block Diagram and Functions ............................................................................................................. 4
4.1. Block Diagram.............................................................................................................................. 4
4.2. Functions ..................................................................................................................................... 4
5. Pin Configurations and Functions ....................................................................................................... 5
6. Absolute Maximum Ratings ................................................................................................................ 6
7. Recommended Operating Conditions................................................................................................. 6
8. Electrical Characteristics ..................................................................................................................... 6
8.1. DC Characteristics ........................................................................................................................... 6
8.2. AC Characteristics ........................................................................................................................... 7
8.3. AC Characteristics of OD-INT ......................................................................................................... 8
8.4. Overall Characteristics .................................................................................................................... 9
8.5. I2C Bus Interface............................................................................................................................ 10
9. Status Description ............................................................................................................................. 11
9.1. State Transition Diagram ............................................................................................................... 11
9.2. Power States ................................................................................................................................. 12
10.
Functional Descriptions ................................................................................................................. 13
10.1. Reset Functions ........................................................................................................................... 13
10.2. Operation modes ......................................................................................................................... 13
10.2.1. Description of Each Operation Mode ................................................................................. 14
10.3. Data Ready .................................................................................................................................. 14
10.3.1. Normal Measurement Data Read Sequence ..................................................................... 15
10.3.2. Data Read Start during Measurement ............................................................................... 16
10.3.3. Data Skip ............................................................................................................................ 16
10.3.4. End Operation .................................................................................................................... 17
10.4. Programmable Switch Function .................................................................................................. 17
10.5. Self-test Function ......................................................................................................................... 18
10.6. Error Notification Function ........................................................................................................... 19
10.7. Interrupt Function ........................................................................................................................ 19
10.7.1. Interrupt Event .................................................................................................................... 20
10.7.2. Timing of DRDY Interrupt Function Operation ................................................................... 21
10.7.3. Timing of Switch/Error Interrupt Function Operation.......................................................... 22
10.8. Sensor Drive Select ..................................................................................................................... 23
10.9. Sensor Measurement Range and Sensitivity Select ................................................................... 23
11.
Serial Interface .............................................................................................................................. 24
11.1. I2C Bus Interface.......................................................................................................................... 24
11.1.1. Data Transfer ...................................................................................................................... 24
11.1.2. WRITE Instruction .............................................................................................................. 26
11.1.3. READ Instruction ................................................................................................................ 27
12.
Registers ....................................................................................................................................... 28
12.1. Description of Registers .............................................................................................................. 28
12.2. Register Map ............................................................................................................................... 29
12.3. Detailed Description of Registers ................................................................................................ 31
12.3.1 WIA[15:0]: Company ID and Device ID ................................................................................. 31
12.3.2 RSV[15:0]: Reserved Register............................................................................................... 31
12.3.3 ST[7:0]: Status ....................................................................................................................... 31
12.3.4 HX[15:0]/HY[15:0]/HZ[15:0]: Measurement Data .................................................................. 32
12.3.5 HV[23:0]: Sum of Squares of 3-axis Measurement Data ...................................................... 33
12.3.6 CNTL1[15:0]: Interrupt Output Setting ................................................................................... 34
12.3.7 CNTL2[7:0]: Operation Mode, Sensor Drive and Self-test Setting........................................ 35
12.3.8 BOP and BRP registers: Operating Threshold and Returning Threshold Setting of
Programmable Switch Function ........................................................................................................ 36
12.3.9 SRST[7:0]: Soft Reset............................................................................................................ 37
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12.3.10 TEST1[15:0]/TEST2[7:0]: Test register ............................................................................... 37
13.
Recommended External Circuits................................................................................................... 38
14.
Package ......................................................................................................................................... 40
14.1. Outline Dimensions ..................................................................................................................... 40
14.2. Marking ........................................................................................................................................ 40
14.3. Pin Assignment ............................................................................................................................ 41
15.
Magnetic Orientation ..................................................................................................................... 42
IMPORTANT NOTICE.............................................................................................................................. 43
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4.
Block Diagram and Functions
4.1. Block Diagram
3-axis
Hall
sensor
Chopper
SW
&
MUX
PreAMP
ADC
OSC2
Analog
Regulator
SCL
OSC1
Magnetic source
Timing
Control
&
Signal
Processing
Interface,
Logic
&
Register
SDA
VREF
OD-INT
POR
VSS
VDD
4.2. Functions
Block
3-axis Hall sensor
Chopper SW & MUX
Analog Regulator
Pre-AMP
ADC
OSC1
OSC2
POR
VREF
Interface Logic
&
Register
Timing Control
&
Signal Processing
Magnetic source
Function
Monolithic Hall elements.
Multiplexer for selecting Hall elements.
Internal power supply.
Differential amplifier used to amplify the magnetic sensor signal.
Convert analog output to digital output.
Generates an operating clock for sensor measurement.
Generates an operating periodic clock for sequencer.
Power On Reset circuit. Generates reset signal on rising edge of VDD.
Generates temperature independent reference voltage.
Exchanges data with an external CPU.
OD-INT pin indicates some magnetic event (selectable).
I2C bus interface using two pins (SCL and SDA). Standard mode, Fast mode
and Fast mode plus are supported.
Generates a timing signal required for internal operation.
Magnetic sensitivity adjustment and switch calculation for switch function.
Generates magnetic field for Self-test of magnetic sensor.
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5. Pin Configurations and Functions
AK09973D has two pin connections shown in the tables below. The slave address can be switched by
changing the pin connection.
Connection 1: Slave address = 10h
Pin
No.
B1
Pin name
I/O
Type
Function
IF1
Function
name
OD-INT
O
Digital
B3
IF2
SDA
I/O
Digital
Open-drain interrupt pin
“L” active. Refer to section 10.7.
Connect this pin to VSS when not using
OD-INT.
Control data input/output pin
Input: Schmitt trigger, Output: Open-drain
A1
A2
A3
VDD
VSS
SCL
VDD
VSS
SCL
I
Power
Ground
Digital
Pin
No.
B1
Pin name
Function
name
I/O
Type
Function
IF1
SDA
I/O
Digital
Control data input/output pin
Input: Schmitt trigger, Output: Open-drain
B3
IF2
OD-INT
O
Digital
A1
A2
A3
VDD
VSS
SCL
VDD
VSS
SCL
I
Power
Ground
Digital
Open-drain interrupt pin
“L” active. Refer to section 10.7.
Connect this pin to VSS when not using
OD-INT.
Positive power supply pin
Ground pin
Control clock input pin
Input: Schmitt trigger
Positive power supply pin
Ground pin
Control clock input pin
Input: Schmitt trigger
Connection 2: Slave address = 11h
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6.
Absolute Maximum Ratings
Symbol
Vdd
VIN
IIN
Tst
Min.
-0.3
-0.3
-10
-40
Vss = 0 V
Parameter
Power supply voltage
Input voltage
Input current
Storage temperature
Max.
+2.5
Vdd + 0.3
+10
+125
Unit
V
V
mA
˚C
Note:
If the device is used in conditions exceeding these values, the device may be destroyed. Normal
operations are not guaranteed in such exceeding conditions.
7.
Recommended Operating Conditions
Vss = 0 V
Parameter
Operating temperature
Power supply voltage
Input voltage
Symbol
Ta
Vdd
VIN
8.
Min.
-30
1.65
1.1
Typ.
1.8
1.8
Max.
+85
1.95
Vdd
Unit
˚C
V
V
Electrical Characteristics
The following conditions apply unless otherwise noted:
Vdd = 1.65 V to 1.95 V, VIN = 1.1 V to Vdd, Temperature range = -30˚C to +85˚C
Typical condition: Vdd = 1.8 V, Temperature = +25˚C
8.1. DC Characteristics
Parameter
High level input voltage* 1
Symbol
VIH
Low level input voltage* 1
VIL
Input current* 1
IIN
Hysteresis input voltage* 2
VHS
Low level output voltage
VOL
Current consumption* 4
IDD1
Pin
SCL
IF1
IF2
SCL
IF1
IF2
SCL
IF1
IF2
SCL
IF1
IF2
IF1
IF2
VDD
Condition
-
Min.
1.00
Typ.
-
Max.
Vdd + 0.3
Unit
V
-
-0.3
-
0.42
V
VIN
= Vss or Vdd
-10
-
+10
µA
-
0.15
-
-
V
IOL* 3 ≤ +20mA
-
-
0.33
V
Power-down
mode
VIN = Vdd
-
1
3
µA
IDD2
When magnetic
sensor is driven
-
1.4
2.2
mA
IDD3
When self-test is
driven
-
5.6
-
mA
Notes:
* 1. As for IF1 and IF2 pins, the specification is applied when these pins are used for SDA function.
* 2. Schmitt trigger input (reference value for design).
* 3. IOL: Low level output current.
* 4. Without any resistance load.
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8.2. AC Characteristics
Parameter
Symbol
Pin
Condition
Min.
Typ.
Max.
Unit
Power supply rise
time* 5
POR completion
time* 5
Power supply turn off
voltage* 5
Power supply turn on
interval* 5
PSUP
VDD
Period of time that VDD
changes from 0.2 V to Vdd.
Period of time after PSUP to
Power-down mode* 6
Turn off voltage to enable
POR to restart* 6
Period of time that voltage
lower than SDV needed to be
kept to enable POR to restart
-
-
-
50
ms
-
-
100
µs
-
-
0.2
V
100
-
-
µs
100
-
-
µs
Wait time before
mode setting
Notes:
PORT
SDV
PSINT
Twait
-
* 5. Reference value for design.
* 6. When POR circuit detects the rise of VDD voltage, it resets internal circuits and initializes the registers.
After reset, AK09973D transits to Power-down mode.
[Voltage waveform of VDD]
Power-down mode
Power-down mode
VDD
Twait
PORT
SDV
0V
PSUP
PSINT
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8.3. AC Characteristics of OD-INT
Parameter
Fall time of OD-INT
Symbol
TfOD
Pin
OD-INT
Condition
CL = 50 pF
RL = 20 kΩ(typ.)
Min.
-
Typ.
-
Max.
250
Unit
ns
Figure 8.1 Condition of operation verification
[Rise time and fall time]
TfOD
OD-INT
90%Vdd
10%Vdd
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8.4. Overall Characteristics
Table 8.1 High sensitivity setting
Parameter
Symbol
Condition
Min.
Typ.
Max.
Unit
Measurement data
output bit
Time for measurement
DBIT
-
-
16
-
Bit
TSM
SDR bit = “0”
(Low noise drive)
SDR bit = “1”
(Low power drive)
Ta = 25˚C,
SMR bit = “0”
Ta = 25˚C,
SMR bit = “0”
Ta = 25˚C
-
0.825
0.908
ms
-
0.265
0.292
0.99
1.1
1.21
µT/LSB
±32.44
±36.04
±39.64
mT
-500
-
+500
LSB
-
5.5
-
µTrms
-
15.0
-
Magnetic sensor
sensitivity
Magnetic sensor
measurement range* 7
Magnetic sensor
initial offset* 8
Noise* 7
BSE
BRG
BOF
NIS
SDR bit = “0”
(Low noise drive)
SDR bit = “1”
(Low power drive)
Table 8.2 Wide range setting
Parameter
Symbol
Condition
Min.
Typ.
Max.
Unit
Measurement data
output bit
Time for measurement
DBIT
-
-
16
-
Bit
TSM
SDR bit = “0”
(Low noise drive)
-
0.825
0.908
ms
SDR bit = “1”
-
0.265
0.292
2.79
3.1
3.41
µT/LSB
±31.42
±34.91
±38.4
mT
±91.42
±101.57
±111.73
-177
-
+177
LSB
-
6.8
-
µTrms
-
18.0
-
Magnetic sensor
sensitivity
Magnetic sensor
measurement range* 7
Magnetic sensor
initial offset* 8
Noise* 7
BSE
BRG
BOF
NIS
(Low power drive)
Ta = 25˚C,
SMR bit = “1”
Ta = 25˚C,
X and Y-axis,
SMR bit = “1”
Ta = 25˚C,
Z-axis,
SMR bit = “1”
Ta = 25˚C
SDR bit = “0”
(Low noise drive)
SDR bit = “1”
(Low power drive)
Notes:
* 7. Reference value for design. Under steady magnetic field.
* 8. Value of measurement data register on shipment test without applying magnetic field on purpose .
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8.5. I2C Bus Interface
I2C bus interface is compliant with Standard mode, Fast mode and Fast mode plus. As for tR and tF,
specifications for Fast mode plus are applied.
◼
Fast mode plus
Symbol
Parameter
Min.
Typ.
Max.
Unit
fSCL
tHIGH
tLOW
tR
tF
tHD:STA
tSU:STA
tHD:DAT
tSU:DAT
tSU:STO
tBUF
tSP
SCL clock frequency
SCL clock “High” time
SCL clock “Low” time
SDA and SCL rise time
SDA and SCL fall time
Start Condition hold time
Start Condition setup time
SDA hold time (vs. SCL falling edge)
SDA setup time (vs. SCL rising edge)
Stop Condition setup time
Bus free time
Noise suppression pulse width
0.26
0.5
0.26
0.26
0
50
0.26
0.5
-
-
1000
120
120
50
kHz
µs
µs
ns
ns
µs
µs
µs
ns
µs
µs
ns
1/fSCL
VIH
SCL
VIL
VIH
SDA
VIL
tLOW
tBUF
tR
tHIGH
tF
tSP
VIH
SCL
VIL
tHD:STA
Stop
Start
tHD:DAT
tSU:DAT
tSU:STA
tSU:STO
Start
Stop
Figure 8.2 I2C bus interface timing
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9.
Status Description
9.1. State Transition Diagram
Figure 9.1 State transition diagram
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9.2. Power States
When VDD is turned on from Vdd = OFF (0 V), all registers in AK09973D are initialized by POR circuit
and transit to Power-down mode automatically.
Table 9.1 Power States
State
1
VDD
OFF (0 V)
Power state
OFF (0 V).
It does not affect external interface.
2
1.65 V to 1.95 V ON
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10. Functional Descriptions
10.1. Reset Functions
AK09973D has two types of reset;
I. Power on Reset (POR)
When Vdd rise is detected, POR circuit operates, and AK09973D is reset. After reset is completed,
all registers are initialized and AK09973D transits to Power-down mode.
II. Soft reset
AK09973D is reset by setting SRST bit = “1”. After reset is completed, all registers are initialized
and AK09973D transits to Power-down mode automatically.
10.2. Operation modes
AK09973D has following eleven operation modes:
(1) Power-down mode (MODE[4:0] bits = “00h,03h,05h,07h,09h,0Bh,0Dh,0Fh, ≥ 11h”)
(2) Single measurement mode (MODE[4:0] bits = “01h”)
➢ Sensor is measured for one time and data is output. Transits to Power-down mode
(MODE[4:0] bits = “00h”) automatically after measurement ended.
(3) Continuous measurement mode 1 (MODE[4:0] bits = “02h”)
➢ Sensor is measured periodically in 5 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly.
(4) Continuous measurement mode 2 (MODE[4:0] bits = “04h”)
➢ Sensor is measured periodically in 10 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly.
(5) Continuous measurement mode 3 (MODE[4:0] bits = “06h”)
➢ Sensor is measured periodically in 20 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly.
(6) Continuous measurement mode 4 (MODE[4:0] bits = “08h”)
➢ Sensor is measured periodically in 50 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly.
(7) Continuous measurement mode 5 (MODE[4:0] bits = “0Ah”)
➢ Sensor is measured periodically in 100 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly.
(8) Continuous measurement mode 6 (MODE[4:0] bits = “0Ch”)
➢ Sensor is measured periodically in 500 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly.
(9) Continuous measurement mode 7 (MODE[4:0] bits = “0Eh”)
➢ Sensor is measured periodically in 1000 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly. This mode only enables when AK09973D is set Low power mode
(SDR bit = “1”). When set this mode on Low noise mode (SDR bit = “0”), sensor is measured
periodically in 500 Hz.
(10) Continuous measurement mode 8 (MODE[4:0] bits = “10h”)
➢ Sensor is measured periodically in 2000 Hz. Transits to other operation mode by writing
MODE[4:0] bits directly. This mode only enables when AK09973D is set Low power mode
(SDR bit = “1”). When set this mode on Low noise mode (SDR bit = “0”), sensor is measured
periodically in 500 Hz.
(11) Self-test mode (STEST bit = “1”)
➢ Self-test mode is used to check if the magnetic sensor is working normally. This mode only
enables when AK09973D is set Single measurement mode.
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10.2.1. Description of Each Operation Mode
10.2.1.1. Power-down Mode
Power to almost all internal circuits is turned off, all registers are accessible in Power-down mode and
data stored in read/write registers are remained. They can be reset by reset function.
10.2.1.2. Single Measurement Mode
When Single measurement mode (MODE[4:0] bits = “01h”) is set, magnetic sensor measurement is
started. After magnetic sensor measurement and signal processing is finished, measurement magnetic
data is stored to measurement data registers (HX, HY, HZ and HV registers), then AK09973D transits
to Power-down mode automatically. On transition to Power-down mode, MODE[4:0] bits turns to “0”. At
the same time, DRDY bit in ST register turns to “1” and SW bits in ST register turn to another state
when measurement magnetic data exceed a setup threshold value.
10.2.1.3. Continuous Measurement Mode 1,2,3,4,5,6,7 and 8
When Continuous measurement modes (1 to 8) are set, magnetic sensor measurement is started
periodically at 5 Hz, 10 Hz, 20 Hz, 50 Hz, 100 Hz, 500 Hz, 1000 Hz and 2000 Hz respectively. After
magnetic sensor measurement and signal processing is finished, measurement magnetic data is stored
to measurement data registers and all circuits except for the minimum circuit required for counting cycle
length are turned off (Power Save: PS). When the next measurement timing comes, AK09973D wakes
up automatically from PS and starts measurement again.
Continuous measurement mode ends when a different operation mode is set. When user access to
Setting Registers (address 20h to 25h), AK09973D stops updating switch states and measurement data
registers.
Table 10.1 Continuous measurement modes
Operation mode
Continuous measurement mode 1
Continuous measurement mode 2
Continuous measurement mode 3
Continuous measurement mode 4
Continuous measurement mode 5
Continuous measurement mode 6
Continuous measurement mode 7
Continuous measurement mode 8
(N-1)th
PS
Nth
Measurement
Register setting
(MODE[4:0] bits)
0 0010
0 0100
0 0110
0 1000
0 1010
0 1100
0 1110
1 0000
PS
(N+1)th
Measurement
Measurement
frequency [Hz]
5
10
20
50
100
500
1000
2000
PS
5,10,20,50,100,500,1000 or 2000 Hz
Figure 10.1 Continuous measurement modes
10.3. Data Ready
When measurement data is stored and ready to be read, DRDY bit in ST register turns to “1”. This is
called “Data Ready”. When DRDYEN bit in CNTL1 register is “1”, OD-INT pin notify user of the Data
Ready state. When any of measurement data register (HX,HY,HZ and HV register) is read all the way
through or access to Setting Registers (address 20h to 25h), DRDY bit turns to “0”.
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10.3.1. Normal Measurement Data Read Sequence
(1) Check Data Ready or not by any of the following method.
Monitor OD-INT pin
Polling DRDY bit of ST register
When Data Ready, proceed to the next step.
(2) Read ST and measurement data
When ST register and any of measurement data register (HX, HY, HZ and HV register) is read all
the way through, or access to Setting Registers (address 20h to 25h), AK09973D judges that data
reading is finished. When data reading is finished, DRDY bit and DOR bit turns to “0”.
When measurement data register is accessed, AK09973D judges that data reading is started.
Stored measurement data is protected during data reading and data is not updated. By reading
measurement data register is finished, this protection is released.
(N-1)th
PS
Nth
Measurement
PS
(N+1)th
Measurement
Measurement Data Register
(N-1)th
Nth
PS
(N+1)th
DRDY
Data read
Addr. ST,Data(N)
Addr. ST,Data(N+1)
Figure 10.2 Timing chart of Measurement data read
(N-1)th
PS
Nth
Measurement
PS
Measurement Data Register
(N-1)th
Nth
Maintain DRDY bit="1"
DRDY
Data read
Addr. ST
Addr. ST,Data(N)
Figure 10.3 Timing chart of ST data read
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10.3.2. Data Read Start during Measurement
When the sensor is measuring (Measurement period), measurement data registers (HX, HY, HZ and
HV register) keep the previous data. Therefore, it is possible to read out data even during measurement
period. If data is started to be read during measurement period, previous data is read.
(N-1)th
PS
Nth
Measurement
(N+1)th
Measurement
PS
Measurement Data Register
(N-1)th
Nth
PS
(N+1)th
DRDY
Data read
Addr. ST,Data(N)
Addr. ST,Data(N)
Addr. ST,Data(N+1)
Figure 10.4 Data read start during measuring
10.3.3. Data Skip
When Nth data was not read before (N+1)th measurement ends, Data Ready remains until data is read.
In this case, a set of measurement data is skipped so that DOR bit turns to “1”. DOR bit turns to “0” at
the (N+2)th measurement ended.
When data reading started after Nth measurement ended and did not finish reading before (N+1)th
measurement ended, Nth measurement data is protected to keep correct data. In this case, a set of
measurement data is not skipped and stored after finish reading Nth measurement data so that DOR bit
= “0”.
(N-1)th
PS
Nth
Measurement
Measurement Data Register
(N-1)th
Nth
PS
(N+1)th
Measurement
PS
(N+2)th
Measurement
(N+1)th
PS
(N+2)th
DRDY
Nth data is skipped
DOR
Data read
Addr. ST,Data(N+1)
Figure 10.5 Data Skip: When data is not read
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(N-1)th
PS
Nth
Measurement
PS
Measurement Data Register
(N-1)th
Nth
(N+1)th
Measurement
(N+2)th
Measurement
PS
(N+1)th
Data register is protected
because data is being read
DRDY
PS
(N+2)th
Keep DRDY bit ="1"
DOR
Data read
Addr. ST,Data(N)
Addr. ST,Data(N+1)
Figure 10.6 Data Not Skip: When data read has not been finished before the next measurement end
10.3.4. End Operation
Set Power-down mode (MODE[4:0] bits = “00h”) to end Continuous measurement mode.
10.4. Programmable Switch Function
AK09973D has a programmable switch function created by setting switch threshold values (operating
threshold* 9 and returning threshold* 10) and switch function enable bits (SWEN bits* 11). When
measurement magnetic data exceeds the operating threshold value, switch event bit (SW bits* 12) turns
to “1”. When measurement magnetic data is lower than the returning threshold, SW bits turns to “0”.
The switch function is used to check the magnitude relation between the measurement data and the
switch threshold values. After the magnetic sensor measurement and signal processing has finished,
measurement data is stored to the measurement data register. Then AK09973D compares the
measurement data with the defined switch threshold values and outputs the comparison results at the
SW bits in ST register. Switch thresholds can be free to set (Settable range: same as measurement
range. Settable sensitivity: same as measurement sensitivity).
Notes:
* 9. BOPX[15:0], BOPY[15:0], BOPZ[15:0] and BOPV[15:0]
* 10. BRPX[15:0], BRPY[15:0], BRPZ[15:0] and BRPV[15:0]
* 11. SWXEN bit, SWYEN bit, SWZEN bit and SWVEN bit
* 12. SWX bit, SWY bit, SWZ bit and SWV bit
Table 10.2 Relation between threshold values and SW bit of X-axis* 13
Relation between
Magnitude relation between
SWX bit
BOPX and BRPX
measurement data and threshold
result
values
BOPX ≤ BRPX
Don’t care
Don’t care
(Switch function disable)
BOPX > BRPX
(Switch function
enable)
BOPX < HX
BRPX > HX
BRPX ≤ HX ≤ BOPX
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SWX bit = “1”
Hysteresis
SWX bit = “0”
-BRG
BRPX
BOPX
Measurement
data (HX)
BRG
Figure 10.7 Relation between threshold values and SW bit of X-axis*13
Note:
* 13. X-axis, Y-axis, Z-axis and sum of squares of 3-axis exhibits the same relationship
10.5. Self-test Function
Self-test mode is used to check if the magnetic sensor is working normally.
When Self-test mode (STEST bit = “1”) and Single measurement mode (MODE[4:0] bits = “01h”) are
set, magnetic field is generated by the internal magnetic source and magnetic sensor is measured. In
the Self-test mode, the settings of Sensor drive select (SDR bit) and Sensor measurement range (SMR
bit) are invalid and measurement is performed with Low noise (SDR bit = “0”) and High sensitivity (SMR
bit = “0”). Measurement data is stored to measurement data registers (HX, HY, HZ), then AK09973D
transits to Power-down mode automatically.
Data read sequence and functions of read-only registers in Self-test mode is the same as Single
measurement mode.
When measurement data read by the self-test sequence is in the range of following table, AK09973D is
working normally.
Criteria
HX[15:0] bits
-120 ≤ HX ≤ 120
HY[15:0] bits
-120 ≤ HY ≤ 120
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10.6. Error Notification Function
AK09973D has a limitation for measurement range, where the absolute value of X-axis and Y-axis
should be smaller than 36.04 mT (High sensitivity mode) or 34.91 mT (Wide range mode) and the
absolute value of Z-axis should be smaller than 36.04 mT (High sensitivity mode) or 101.57 mT (Wide
range mode). When the magnetic field exceeds this limitation, AK09973D outputs limitation value (fixed
value: 36.04 mT, 34.91 mT or 101.57 mT ) at the X-axis or/and Y-axis or/and Z-axis. This is called
magnetic sensor overflow. When magnetic sensor overflow occurs, ERR bit turns to “1”. When the
magnetic field less than limitation value, measurement data register and ERR bit are updated.
10.7. Interrupt Function
AK09973D has Open-drain interrupt pin (OD-INT pin). When CNTL1 register is set and interrupt event
occurred, AK09973D outputs selected interrupt event at OD-INT pin. AK09973D can output three type
of interrupt events (Switch event, Data ready, Error event) to OD-INT pin. Switch event occurs when
measurement data is higher than BOP value and POL bit*14 = “0” or when measurement data is lower
than BRP value and POL bit = “1”. When interrupt Switch event or Data ready or Error event occurs,
OD-INT pin turns to “L”.
Note:
*14. POLX bit, POLY bit, POLZ bit and POLV bit
Table 10.3 Relation between threshold values of X-axis and OD-INT pin* 15
Relation between
Magnitude relation between
OD-INT pin
BOPX and BRPX
measurement data and threshold
POLX = “0”
POLX = “1”
values
BOPX ≤ BRPX
Don’t care
Don’t care
(Switch function disable)
BOPX > BRPX
(Switch function
enable)
BOPX < HX
BRPX > HX
BRPX ≤ HX ≤ BOPX
L
H
H
L
Previous result
Note:
* 15. X-axis, Y-axis, Z-axis and sum of squares of 3-axis exhibits the same relationship
Interrupt
H
Hysteresis
Magnetic flux
density
L
-BRG
Returning
Operating
Threshold
Threshold
BRG
Figure 10.8 Open drain interrupt pin (POL bit = “0”)
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Interrupt
H
Hysteresis
Magnetic flux
density
L
-BRG
Returning
Operating
Threshold
Threshold
BRG
Figure 10.9 Open drain interrupt pin (POL bit = “1”)
10.7.1. Interrupt Event
(1) Switch interrupt event
➢ When measurement magnetic data exceeds the operating threshold value and POL bit = “0”,
SW bit turns to “1” and OD-INT pin turns to “L”. When measurement magnetic data is lower
than the returning threshold and POL bit = “0”, SW bit turns to “0” and OD-INT pin turns to “H”.
In case of POL bit = “1”, the polarity of OD-INT pin is the reverse of when POL bit = “0”.
(2) Data ready
➢ OD-INT pin notifies user of the Data Ready state. When Data ready is occurred, DRDY bit
turns to “1” and OD-INT pin turns to “L”. When user accesses to register address, OD-INT pin
turns to “H”.
(3) Error event (Overflow)
➢ When magnetic sensor overflow occurs, ERR bit turns to “1” and OD-INT pin turns to “L”.
When the magnetic field less than limitation value, ERR bit turns to “0” and OD-INT pin turns
to “H”.
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10.7.2. Timing of DRDY Interrupt Function Operation
Timing of interrupt function operation is given below.
Table 10.3 Timing of interrupt function operation
Pin name
OD-INT pin
(N-1)th
PS
Nth
Measurement
Output transition
H→L
Timing of transition
End of measurement
Remarks
-
L→H
Read address 10h - 1Fh
or
Write address 20h - 25h
During access to
address, OD-INT pin
is always “H” state.
PS
(N+1)th
Measurement
PS
ST register and
Measurement Data Register
(N-1)th
Nth [DRDY event occur]
(N+1)th [DRDY event occur]
OD-INT pin
Interrupt for DRDY
Interrupt for DRDY
Data read
Addr. ST,Data(N)
Addr. ST,Data(N+1)
Figure 10.10 Timing chart of DRDY interrupt function (Normal read sequence)
(N-1)th
PS
Nth
Measurement
PS
(N+1)th
Measurement
ST register and
Measurement Data Register
(N-1)th
Nth [DRDY event occur]
OD-INT pin
PS
(N+1)th [DRDY event occur]
Interrupt for DRDY
Interrupt for DRDY
Data read
Addr. ST,Data(N)
Figure 10.11 Timing chart of DRDY interrupt function
(When Nth data is read start immediately before (N+1)th measurement end)
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10.7.3. Timing of Switch/Error Interrupt Function Operation
When user assigns OD-INT pin to SW event output or/and Error event output, OD-INT pin notifies user
of these event. Timing of these interrupt function operation is given below.
Table 10.5 Timing of SW/ERROR interrupt function operation (POL bit = “0”)
Pin name
OD-INT pin
(N-1)th
PS
Nth
Measurement
Output transition
H→L
Timing of transition
End of
measurement(SW/ERROR)
L→H
End of
measurement(SW/ERROR)
or
Write address 20h - 25h
(N+1)th
Measurement
PS
ST register and
Measurement Data Register
(N-1)th
Nth [SW/ERR event occur]
PS
(N+1)th [SW/ERR event end]
SW bit/ERR bit
OD-INT pin
Interrupt for SW/ERR event
Figure 10.12 Timing chart of SW/ERROR interrupt function
(N-1)th
PS
Nth
Measurement
PS
(N+1)th
Measurement
ST register and
Measurement Data Register
(N-1)th
Nth [SW/ERR event occur]
PS
(N+1)th [SW/ERR event end]
SW bit/ERR bit
Data read
OD-INT pin
Addr. ST,Data(N)
Addr. ST,Data(N+1)
Interrupt for DRDY or SW/ERR event
Interrupt for DRDY
Figure 10.13 Timing chart of DRDY or SW/ERROR interrupt function
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10.8. Sensor Drive Select
Users can choose “Low power” or “Low noise” drive by the SDR bit.
“Low power” is used to save the current consumption and “Low noise” is used to reduce the noise of
AK09973D. When Low noise (SDR bit = “0”) is set, output magnetic data noise is more reduced than
Low power (about 70% of Low power). When Low power (SDR bit = “1”) is set, average current
consumption at 10 Hz repetition rate is saved from 11 µA to 3.5 µA (Vdd = 1.8 V, +25˚C). Default SDR
bit is Low noise drive (SDR bit = “0”).
10.9. Sensor Measurement Range and Sensitivity Select
Users can choose “High sensitivity (Normal measurement range and high sensitivity)” or “Wide range
(Wide measurement range and normal sensitivity)” setting.
“High sensitivity” is used to measure with high magnetic sensitivity and “Wide range” is used to
measure strong magnetic field (apply only to Z-axis). When High sensitivity (SMR bit = “0”) is set,
magnetic sensor sensitivity is about three times higher than Wide range (3.1 µT/LSB → 1.1 µT/LSB).
When Wide range (SMR bit = “1”) is set, Z-axis measurement range is about three times wider than
High sensitivity (Z-axis measurement range: ±36.04 mT → ±101.57 mT). Default SMR bit is High
sensitivity enable (SMR bit = “0”).
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11. Serial Interface
2
11.1. I C Bus Interface
The I2C bus interface of AK09973D supports the Standard mode (100 kHz max.), the Fast mode (400
kHz max.) and the Fast mode plus (1000 kHz max.).
11.1.1. Data Transfer
To access AK09973D on the bus, generate a start condition first.
Next, transmit a one-byte slave address including a device address. At this time, AK09973D compares
the slave address with its own address. If these addresses match, AK09973D generates an
acknowledgement, and then executes READ or WRITE instruction. At the end of instruction execution,
generate a stop condition.
11.1.1.1. Change of Data
A change of data on the SDA line must be made during “Low” period of the clock on the SCL line.
When the clock signal on the SCL line is “High”, the state of the SDA line must be stable. (Data on the
SDA line can be changed only when the clock signal on the SCL line is “Low”.)
During the SCL line is “High”, the state of data on the SDA line is changed only when a start condition
or a stop condition is generated.
SCL
SDA
DATA LINE
STABLE :
DATA VALID
CHANGE
OF DATA
ALLOWED
Figure 11.1 Data Change
11.1.1.2. Start/Stop Condition
If the SDA line is driven to “Low” from “High” when the SCL line is “High”, a start condition is generated.
Every instruction starts with a start condition.
If the SDA line is driven to “High” from “Low” when the SCL line is “High”, a stop condition is generated.
Every instruction stops with a stop condition.
SCL
SDA
START CONDITION
STOP CONDITION
Figure 11.2 Start and stop condition
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11.1.1.3. Acknowledge
The IC that is transmitting data releases the SDA line (in the “High” state) after sending 1-byte data.
The IC that receives the data drives the SDA line to “Low” on the next clock pulse. This operation is
referred as an acknowledge. With this operation, whether data has been transferred successfully can
be checked. AK09973D generates an acknowledge after receipt of the start condition and slave
address.
When a WRITE instruction is executed, AK09973D generates an acknowledge after every byte that is
received.
When a READ instruction is executed, AK09973D generates an acknowledge then transfers the data
stored at the specified address. Next, AK09973D releases the SDA line then monitors the SDA line. If a
master IC generates an acknowledge instead of a stop condition, AK09973D transmits the 8-bit data
stored at the next address. If no acknowledge is generated, AK09973D stops data transmission.
Clock pulse
for acknowledge
SCL FROM
MASTER
1
8
9
DATA
OUTPUT BY
TRANSMITTER
not acknowledge
DATA
OUTPUT BY
RECEIVER
START
CONDITION
acknowledge
Figure 11.3 Generation of acknowledge
11.1.1.4. Slave Address
The slave address of AK09973D can be selected from the following list by changing pin connections of
IF1 and IF2 pin.
IF1
OD-INT
SDA
Connection 1
Connection 2
IF2
SDA
OD-INT
Slave address
10h
11h
MSB
0
LSB
0
1
0
0
0
0
R/W
Figure 11.4 Slave address of Connection 1
The first byte including a slave address is transmitted after a start condition, and an IC to be accessed
is selected from the ICs on the bus according to the slave address.
When a slave address is transferred, the IC whose device address matches the transferred slave
address generates an acknowledge then executes an instruction. The 8th bit (least significant bit) of the
first byte is a R/W bit.
When the R/W bit is set to “1”, READ instruction is executed. When the R/W bit is set to “0”, WRITE
instruction is executed.
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11.1.2. WRITE Instruction
When the R/W bit is set to “0”, AK09973D performs write operation.
In write operation, AK09973D generates an acknowledge after receiving a start condition and the first
byte (slave address) then receives the second byte. The second byte is used to specify the address of
an internal control register and is based on the MSB-first configuration.
MSB
A7
LSB
A6
A5
A4
A3
A2
A1
A0
Figure 11.5 Register address
After receiving the second byte (register address), AK09973D generates an acknowledge then receives
the third byte.
The third and the following bytes represent control data. Control data consists of 8-bit and is based on
the MSB-first configuration. AK09973D generates an acknowledge after every byte is received. Data
transfer always stops with a stop condition generated by the master.
MSB
D7
LSB
D6
D5
D4
D3
D2
D1
D0
Figure 11.6 Control data
AK09973D can write multiple bytes of data at a time.
After reception of the third byte (control data), AK09973D generates an acknowledge then receives the
next data. If additional data is received instead of a stop condition after receiving one byte of data, the
address counter inside the LSI chip is automatically incremented and the data is written at the next
address.
The address is incremented from 20h to 25h. When the address is between 20h and 25h, the address
is incremented 20h → 21h → 22h → 23h → 24h → 25h, and the address goes back to 20h after 25h.
Actual data is written only to Read/Write registers (Table 12.2).
S
T
A
R
T
SDA
S
S
T
O
P
R/W="0"
Slave
Address
Register
Address(n)
A
C
K
Data(n)
A
C
K
Data(n+1)
A
C
K
Data(n+x)
A
C
K
A
C
K
P
A
C
K
Figure 11.7 WRITE Instruction
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11.1.3. READ Instruction
When the R/W bit is set to “1”, AK09973D performs read operation.
If a master IC generates an acknowledge instead of a stop condition after AK09973D transfers the data
at a specified address, the data at the next address can be read.
Address can be 20h to 25h. When the address is between 20h and 25h , the address is incremented
20h → 21h → 22h → 23h → 24h → 25h , and the address goes back to 20h after 25h .
AK09973D supports one byte read and multiple byte read.
11.1.3.1. Current Address Read
AK09973D has an address counter inside the LSI chip. In current address read operation, the data at
an address specified by this counter is read.
The internal address counter holds the next address of the most recently accessed address.
For example, if the address most recently accessed (for READ instruction) is address “n”, and a current
address read operation is attempted, the data at address “n+1” is read.
In current address read operation, AK09973D generates an acknowledge after receiving a slave
address for the READ instruction (R/W bit = “1”). Next, AK09973D transfers the data specified by the
internal address counter starting with the next clock pulse, then increments the internal counter by one.
If the master IC generates a stop condition instead of an acknowledge after AK09973D transmits one
byte of data, the read operation stops.
S
T
A
R
T
SDA
S
S
T
O
P
R/W="1"
Slave
Address
Data(n)
A
C
K
Data(n+1)
A
C
K
Data(n+2)
A
C
K
Data(n+x)
A
C
K
P
A
C
K
Figure 11.8 Current address read
11.1.3.2. Random Address Read
By random address read operation, data at an arbitrary address can be read.
The random address read operation requires to execute WRITE instruction as dummy before a slave
address for the READ instruction (R/W bit = “1”) is transmitted. In random read operation, a start
condition is first generated then a slave address for the WRITE instruction (R/W bit = “0”) and a read
address are transmitted sequentially.
After AK09973D generates an acknowledge in response to this address transmission, a start condition
and a slave address for the READ instruction (R/W bit = “1”) are generated again. AK09973D generates
an acknowledge in response to this slave address transmission. Next, AK09973D transfers the data at
the specified address then increments the internal address counter by one. If the master IC generates a
stop condition instead of an acknowledge after data is transferred, the read operation stops.
S
T
A
R
T
SDA
S
S
T
A
R
T
R/W="0"
Slave
Address
Register
Address(n)
A
C
K
S
A
C
K
S
T
O
P
R/W="1"
Slave
Address
Data(n)
A
C
K
Data(n+1)
A
C
K
Data(n+x)
A
C
K
P
A
C
K
Figure 11.9 Random address read
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12. Registers
12.1. Description of Registers
AK09973D has registers of 26 addresses as indicated in Table 12.1. Every address consists of 1-byte
to 7-byte data. Data is transferred to or received from the external CPU via the serial interface
described previously.
Table 12.1 Register Table
Description
Byte
width
Remarks
00h
Company ID, Device ID
4
Device Information
10h
Status
1
ST data
11h
3
ST + X-axis data
12h
3
ST + Y-axis data
5
ST + X and Y-axis data
3
ST + Z-axis data
5
ST + X and Z-axis data
5
ST + Y and Z-axis data
7
Address
READ/
WRITE
13h
Status
and
Measurement Magnetic Data
14h
15h
16h
17h
18h
5
19h
2
ST + X, Y and Z-axis data
ST + Sum of squares of
3-axis data
ST + X-axis data
2
ST + Y-axis data
3
ST + X and Y-axis data
2
ST + Z-axis data
READ
1Ah
Status
and
Measurement Magnetic Data
(upper 8 bits of measurement
data register)
1Bh
1Ch
1Dh
3
ST + X and Z-axis data
1Eh
3
ST + Y and Z-axis data
1Fh
20h
Control 1
4
2
ST + X, Y and Z-axis data
Interrupt function settings
21h
Control 2
1
Operation Mode, Sensor
Drive, Measurement Range
and Sensitivity
4
X-axis threshold settings
4
Y-axis threshold settings
4
1
Z-axis threshold settings
Sum of squares of
3-axis threshold settings
Soft reset
2
DO NOT ACCESS
1
DO NOT ACCESS
22h
23h
24h
READ/
WRITE
Control 3
(Switch threshold value)
25h
4
30h
Reset
40h
41h
READ
Test
Addresses 20h to 25h are compliant with automatic increment function of serial interface respectively.
When the address is in 20h to 25h , the address is incremented 20h → 21h → 22h → 23h → 24h →
25h, and the address goes back to 20h after 25h .
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12.2. Register Map
Addr.
Byte0
Byte1
00h
10h
11h
12h
13h
14h
15h
16h
17h
18h
19h
1Ah
1Bh
1Ch
1Dh
1Eh
1Fh
WIA[15:8]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
ST[7:0]
WIA[7:0]
HX[15:8]
HY[15:8]
HY[15:8]
HZ[15:8]
HZ[15:8]
HZ[15:8]
HZ[15:8]
HV[31:24]
HX[15:8]
HY[15:8]
HY[15:8]
HZ[15:8]
HZ[15:8]
HZ[15:8]
HZ[15:8]
20h
21h
22h
CNTL1[15:8]
CNTL2[7:0]
BOPX[15:8]
CNTL1[7:0]
BOPX[7:0]
23h
BOPY[15:8]
24h
Table 12.2 Register Map
Byte2
Byte3
Read only register
Byte4
Byte5
Byte6
HX[7:0]
HX[7:0]
HY[7:0]
HY[7:0]
HV[7:0]
-
HX[15:8]
-
HX[7:0]
-
BRPX[15:8] BRPX[7:0]
-
-
-
BOPY[7:0]
BRPY[15:8] BRPY[7:0]
-
-
-
BOPZ[15:8]
BOPZ[7:0]
BRPZ[15:8]
BRPZ[7:0]
-
-
-
25h
BOPV[15:8]
BOPV[7:0]
BRPV[15:8] BRPV[7:0]
-
-
-
30h
40h
41h
SRST[7:0]
-
-
-
-
-
-
TEST1[15:8]
TEST1[7:0]
-
-
-
-
-
TEST2[7:0]
-
-
-
-
-
-
RSV[15:8]
HX[7:0]
HY[7:0]
HY[7:0]
HZ[7:0]
HZ[7:0]
HZ[7:0]
HZ[7:0]
HV[23:16]
HX[15:8]
HX[15:8]
HY[15:8]
HY[15:8]
RSV[7:0]
HX[15:8]
HX[15:8]
HY[15:8]
HY[15:8]
HV[15:8]
HX[15:8]
Read/Write register
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Table 12.3 Further details about Register Map (D[7:0])
Register
name
WIA[7:0]
RSV[7:0]
ST[7:0]
HX[7:0]
HY[7:0]
HZ[7:0]
HV[7:0]
CNTL1[7:0]
CNTL2[7:0]
BOPX[7:0]
BRPX[7:0]
BOPY[7:0]
BRPY[7:0]
BOPZ[7:0]
BRPZ[7:0]
BOPV[7:0]
BRPV[7:0]
SRST[7:0]
TEST1[7:0]
TEST2[7:0]
7
1
RSV7
1
HX7
HY7
HZ7
HV7
0
SELFT
BOPX7
BRPX7
BOPY7
BRPY7
BOPZ7
BRPZ7
BOPV7
BRPV7
0
-
6
1
RSV6
DOR
HX6
HY6
HZ6
HV6
0
SMR
BOPX6
BRPX6
BOPY6
BRPY6
BOPZ6
BRPZ6
BOPV6
BRPV6
0
-
5
0
RSV5
ERR
HX5
HY5
HZ5
HV5
ERROREN
SDR
BOPX5
BRPX5
BOPY5
BRPY5
BOPZ5
BRPZ5
BOPV5
BRPV5
0
-
Bit number (D[7:0])
4
3
0
0
RSV4
RSV3
SWV
SWZ
HX4
HX3
HY4
HY3
HZ4
HZ3
HV4
HV3
SWVEN
SWZEN
MODE4
MODE3
BOPX4
BOPX3
BRPX4
BRPX3
BOPY4
BOPY3
BRPY4
BRPY3
BOPZ4
BOPZ3
BRPZ4
BRPZ3
BOPV4
BOPV3
BRPV4
BRPV3
0
0
-
2
0
RSV2
SWY
HX2
HY2
HZ2
HV2
SWYEN
MODE2
BOPX2
BRPX2
BOPY2
BRPY2
BOPZ2
BRPZ2
BOPV2
BRPV2
0
-
1
0
RSV1
SWX
HX1
HY1
HZ1
HV1
SWXEN
MODE1
BOPX1
BRPX1
BOPY1
BRPY1
BOPZ1
BRPZ1
BOPV1
BRPV1
0
-
0
1
RSV0
DRDY
HX0
HY0
HZ0
HV0
DRDYEN
MODE0
BOPX0
BRPX0
BOPY0
BRPY0
BOPZ0
BRPZ0
BOPV0
BRPV0
SRST
-
9
0
RSV9
HX9
HY9
HZ9
HV9
POLY
BOPX9
BRPX9
BOPY9
BRPY9
BOPZ9
BRPZ9
BOPV9
BRPV9
-
8
0
RSV8
HX8
HY8
HZ8
HV8
POLX
BOPX8
BRPX8
BOPY8
BRPY8
BOPZ8
BRPZ8
BOPV8
BRPV8
-
17
HV17
16
HV16
25
HV25
24
HV24
Table 12.4 Further details about Register Map (D[15:8])
Register
name
WIA[15:8]
RSV[15:8]
HX[15:8]
HY[15:8]
HZ[15:8]
HV[15:8]
CNTL1[15:8]
BOPX[15:8]
BRPX[15:8]
BOPY[15:8]
BRPY[15:8]
BOPZ[15:8]
BRPZ[15:8]
BOPV[15:8]
BRPV[15:8]
TEST1[15:8]
15
0
RSV15
HX15
HY15
HZ15
HV15
0
BOPX15
BRPX15
BOPY15
BRPY15
BOPZ15
BRPZ15
BOPV15
BRPV15
-
14
1
RSV14
HX14
HY14
HZ14
HV14
0
BOPX14
BRPX14
BOPY14
BRPY14
BOPZ14
BRPZ14
BOPV14
BRPV14
-
13
0
RSV13
HX13
HY13
HZ13
HV13
0
BOPX13
BRPX13
BOPY13
BRPY13
BOPZ13
BRPZ13
BOPV13
BRPV13
-
Bit number (D[15:8])
12
11
0
1
RSV12
RSV11
HX12
HX11
HY12
HY11
HZ12
HZ11
HV12
HV11
0
POLV
BOPX12
BOPX11
BRPX12
BRPX11
BOPY12
BOPY11
BRPY12
BRPY11
BOPZ12
BOPZ11
BRPZ12
BRPZ11
BOPV12
BOPV11
BRPV12
BRPV11
-
10
0
RSV10
HX10
HY10
HZ10
HV10
POLZ
BOPX10
BRPX10
BOPY10
BRPY10
BOPZ10
BRPZ10
BOPV10
BRPV10
-
Table 12.5 Further details about Register Map (D[23:16])
Register
name
HV[23:16]
23
HV23
22
HV22
21
HV21
Bit number (D[23:16])
20
19
HV20
HV19
18
HV18
Table 12.6 Further details about Register Map (D[31:24])
Register
name
HV[31:24]
31
HV31
30
HV30
29
HV29
Bit number (D[31:24])
28
27
HV28
HV27
26
HV26
TEST1 and TEST2 are test registers for shipment test. Do not access these registers.
200900045-E-00
2020/9
- 30 -
[AK09973D]
12.3. Detailed Description of Registers
12.3.1 WIA[15:0]: Company ID and Device ID
Addr.
00h
Addr.
00h
Register
name
WIA[7:0]
Register
name
WIA[15:8]
D7
D6
1
1
D15
D14
D5
D4
Read-only register
0
0
D13
D12
Read-only register
1
0
0
0
D3
D2
D1
D0
0
0
0
1
D11
D10
D9
D8
1
0
0
0
WIA[7:0] bits: Device ID of AK09973D. It is described in one byte and fixed value.
C1h: fixed
WIA[15:8] bits: Company ID of AKM. It is described in one byte and fixed value.
48h: fixed
12.3.2 RSV[15:0]: Reserved Register
Addr.
00h
Addr.
00h
Register
name
RSV[7:0]
Register
name
RSV[15:8]
D7
RSV7
D15
RSV15
D6
D5
D4
Read-only register
RSV6
RSV5
RSV4
D14
D13
D12
Read-only register
RSV14 RSV13 RSV12
D3
D2
D1
D0
RSV3
RSV2
RSV1
RSV0
D11
D10
D9
D8
RSV11
RSV10
RSV9
RSV8
D3
D2
D1
D0
SWZ
0
SWY
0
SWX
0
DRDY
0
RSV[7:0] bits/ RSV[15:8] bits: Reserved register for AKM.
12.3.3 ST[7:0]: Status
Addr.
10h-1fh
Register
name
ST[7:0]
Reset
D7
1
1
D6
D5
D4
Read-only register
DOR
ERR
SWV
0
0
0
DRDY bit: Data Ready
“0”: Normal
“1”: Data is ready
DRDY bit turns to “1” when data is ready in Single measurement mode and Continuous measurement
mode. It returns to “0” when any one of measurement data register (HX, HY, HZ or/and HV register) is
read all the way through or access to Setting Registers (address 20h to 25h).
DOR bit: Data Overrun
“0”: Normal
“1”: Data overrun
DOR bit turns to “1” when data has been skipped in Continuous measurement mode. DOR bit turns to
“0” at the after both of reading measurement data and the next measurement ended.
SWX bit, SWY bit, SWZ bit, SWV bit
“0”: Measurement data of X, Y, Z-axis and vector sum of 3-axis data is lower than returning threshold
“1”: Measurement data of X, Y, Z-axis and vector sum of 3-axis data is higher than operating threshold
200900045-E-00
2020/9
- 31 -
[AK09973D]
ERR bit: Magnetic sensor overflow
“0”: Normal
“1”: Magnetic sensor overflow occurred
12.3.4 HX[15:0]/HY[15:0]/HZ[15:0]: Measurement Data
Addr.
11h
|
1fh
Addr.
11h
|
1fh
Register
name
HX[7:0]
HY[7:0]
HZ[7:0]
Reset
Register
name
HX[15:8]
HY[15:8]
HZ[15:8]
Reset
D7
D6
HX7
HY7
HZ7
0
HX6
HY6
HZ6
0
D15
D14
HX15
HY15
HZ15
0
D5
D4
Read-only register
HX5
HX4
HY5
HY4
HZ5
HZ4
0
0
D13
D12
Read-only register
HX14
HX13
HX12
HY14
HY13
HY12
HZ14
HZ13
HZ12
0
0
0
D3
D2
D1
D0
HX3
HY3
HZ3
0
HX2
HY2
HZ2
0
HX1
HY1
HZ1
0
HX0
HY0
HZ0
0
D11
D10
D9
D8
HX11
HY11
HZ11
0
HX10
HY10
HZ10
0
HX9
HY9
HZ9
0
HX8
HY8
HZ8
0
Measurement data of magnetic sensor X-axis/Y-axis/Z-axis
HX[7:0] bits: X-axis measurement data lower 8-bit
HX[15:8] bits: X-axis measurement data higher 8-bit
HY[7:0] bits: Y-axis measurement data lower 8-bit
HY[15:8] bits: Y-axis measurement data higher 8-bit
HZ[7:0] bits: Z-axis measurement data lower 8-bit
HZ[15:8] bits: Z-axis measurement data higher 8-bit
Measurement data is stored in two’s complement. Measurement range of each axis is -32768 to 32767
in 16-bit output (High sensitivity setting). Measurement range of X and Y-axis are -11264 to 11264 in
16-bit output, Z-axis is -32768 to 32767 in 16-bit output (Wide range setting).
Table 12.7 Measurement magnetic data format (High sensitivity setting)
Measurement data (each axis) [15:0] bits
Magnetic flux
ERR bit
density [mT]
Two’s complement
Hex
Decimal
0111 1111 1111 1111
7FFF
32767
>36.0437
1
0111 1111 1111 1111
7FFF
32767
36.0437
0
|
|
|
|
|
0000 0000 0000 0001
0001
1
0.0011
0
0000 0000 0000 0000
0000
0
0
0
1111 1111 1111 1111
FFFF
-1
-0.0011
0
|
|
|
|
|
1000 0000 0000 0000
8000
-32768
-36.0448
0
1000 0000 0000 0000
8000
-32768
34.9184
1
0010 1100 0000 0000
2C00
11264
34.9184
0
|
|
|
|
|
0000 0000 0000 0001
0001
1
0.0031
0
0000 0000 0000 0000
0000
0
0
0
1111 1111 1111 1111
FFFF
-1
-0.0031
0
|
|
|
|
|
1101 0100 0000 0000
D400
-11264
-34.9184
0
1101 0100 0000 0000
D400
-11264
101.5777
101.5777
|
0.0031
0
-0.0031
|
-101.5808
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