MLX90372GGO-ACE-100-SP

MLX90372 - Triaxis® Position Processor Datasheet Features and Benefits               Hall Technology On Chip Signal Processing for Robust Absolute Position Sensing ISO26262 ASIL-C Safety Element out of Context AEC-Q100 Qualified Programmable Measurement Range Programmable Linear Transfer Characteristic (4 or 8 Multi-points or 16 or 32 PWL) Selectable (fast) SENT or PWM Output SAE J2716 APR2016 SENT Enhanced serial data communication 48 bits ID Number option Single Die - SOIC-8 Package (RoHS) Dual Die (Full Redundant) - TSSOP-16 Package (RoHS) PCB-less DMP-4 Package (RoHS) Robustness against stray-field SOIC-8 TSSOP-16 DMP-4 Application Examples         Absolute Rotary Position Sensor Pedal Position Sensor Throttle Position Sensor Ride Height Position Sensor Absolute Linear Position Sensor Steering Wheel Position Sensor Float-Level Sensor Non-Contacting Potentiometer REVISION 8 - 08 MAR 2019 3901090372 Description The MLX90372 is a monolithic magnetic position processor IC. It consists of a Triaxis® Hall magnetic front end, an analog to digital signal conditioner, a DSP for advanced signal processing and an output stage driver. The MLX90372 is sensitive to the three components of the magnetic flux density applied to the IC (i.e. Bx, By and Bz). This allows the MLX90372 with the correct magnetic circuit to decode the absolute position of any moving magnet (e.g. rotary position from 0 to 360 Degrees or linear displacement, see fig. 2). It enables the design of non-contacting position sensors that are frequently required for both automotive and industrial applications. The MLX90372 provides SENT frames encoded according to a Secure Sensor format. The circuit delivers enhanced serial messages providing error codes, and user-defined values. Through programming, the MLX90372 can also be configured to output a PWM (Pulse Width Modulated) signal. MLX90372 - Triaxis® Position Processor Datasheet Ordering Information Temp. Package Option Code Packing Form MLX90372 G DC ACC-300 RE Angular Rotary / Linear position MLX90372 G GO ACC-200 RE Linear position Strayfield Immune MLX90372 G GO ACC-300 RE Angular Rotary / Linear position MLX90372 G VS ACC-300 RE/RX Angular Rotary / Linear position MLX90372 G VS ACC-301 RE/RX Angular Rotary / Linear position MLX90372 G VS ACC-303 RE/RX Angular Rotary / Linear position MLX90372 G VS ACC-308 RE/RX Angular Rotary / Linear position MLX90372 G DC ACE-100 RE Angular Rotary Strayfield Immune MLX90372 G DC ACE-200 RE Linear position Strayfield Immune MLX90372 G DC ACE-300 RE Angular Rotary / Linear position MLX90372 G GO ACE-100 RE Angular Rotary Strayfield Immune MLX90372 G GO ACE-200 RE Linear position Strayfield Immune MLX90372 G GO ACE-300 RE Angular Rotary / Linear position MLX90372 G GO ACE-500 RE Angular Rotary Strayfield Immune MLX90372 G VS ACE-100 RE/RX Angular Rotary Strayfield Immune MLX90372 G VS ACE-101 RE/RX Angular Rotary Strayfield Immune MLX90372 G VS ACE-103 RE/RX Angular Rotary Strayfield Immune MLX90372 G VS ACE-108 RE/RX Angular Rotary Strayfield Immune MLX90372 G VS ACE-200 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-201 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-203 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-208 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-300 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-301 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-303 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-308 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-350 RE/RX Angular Rotary / Linear position MLX90372 G VS ACE-357 RE/RX Angular Rotary / Linear position MLX90372 G VS ADE-310 RE/RX Angular Rotary / Linear position MLX90372 G VS ADE-311 RE/RX Angular Rotary / Linear position MLX90372 G VS ADE-313 RE/RX Angular Rotary / Linear position MLX90372 G VS ADE-318 RE/RX Angular Rotary / Linear position Product Definition Table 1 - Ordering Codes REVISION 8 - 08 MAR 2019 3901090372 Page 2 of 85 MLX90372 - Triaxis® Position Processor Datasheet Temperature Code: G: from -40°C to 160°C Package Code: DC : SOIC-8 package (see 18.1) GO : TSSOP-16 package (full redundancy dual die, see 18.5) VS : DMP-4 package (PCB-less dual mold, see 18.12) Option Code - Chip revision ACE-123 : Chip Revision  ACC : Not recommended for new designs (1)  ACE : Standard preferred revision (1)  ADE : DMP “low emissions” version Option Code - Application ACE-123 : 1-Application - Magnetic configuration  1: Angular Rotary Strayfield Immune - Low field Variant  2: Linear position Strayfield Immune  3: Legacy / Angular Rotary / Linear position  5: Angular Rotary Strayfield Immune - High field Variant Option Code - SW & DMP-4 configuration ACE-123 : 2-SW and DMP-4 package configuration For SOIC-8 (code DC) and TSSOP-16 (code GO) packages  0: SENT 3µs mode For DMP-4 (code VS) package with Pinout-A (see section 3.3)  0: SENT 3µs mode, standard capacitor configuration (2)  1: SENT 3µs mode, capacitor configuration no 2 (2) For DMP-4 (code VS) package with Pinout-B (see section 3.4)  5: SENT 3µs mode Option Code - Trim & Form ACE-123 : 3-DMP-4 Trim & Form configuration  0: Standard STD1 1.27. See section 18.9  1: Trim and Form STD1 2.54. See section 18.10 (not recommended for new designs, prefer STD4 2.54)  3: Trim and Form STD2 2.54. See section 18.11  7: Trim and Form STD3 2.00. See section 18.12  8: Trim and Form STD4 2.54. See section 18.13 Packing Form: -RE : Tape & Reel  VS:2500 pcs/reel  DC:3000 pcs/reel  GO:4500 pcs/reel -RX : Tape & Reel, similar to RE with parts face-down (VS package only) Ordering Example: MLX90372GDC-ACE-300-RE For a legacy version in SOIC-8 package, delivered in Reel of 3000pcs. Table 2 - Ordering Codes Information 1 ACE is preferred product revision to be selected for new designs. ACC remains in production during the entire product lifecycle. 2 See section 15.3 Wiring with the MLX90372 in DMP-4 Package (built-in capacitors) REVISION 8 - 08 MAR 2019 3901090372 Page 3 of 85 MLX90372 - Triaxis® Position Processor Datasheet Contents Features and Benefits ..................................................................................................................... 1 Application Examples...................................................................................................................... 1 Description..................................................................................................................................... 1 Ordering Information ..................................................................................................................... 2 1. Functional Diagram and Application Modes ................................................................................. 7 2. Glossary of Terms ....................................................................................................................... 8 3. Pin Definitions and Descriptions .................................................................................................. 9 3.1. Pin Definition for SOIC-8 package ............................................................................................ 9 3.2. Pin Definition for TSSOP-16 package ....................................................................................... 9 3.3. Pin Definition for DMP#1 - Pinout A package ........................................................................ 10 3.4. Pin Definition for DMP#2 - Pinout B package ........................................................................ 10 4. Absolute Maximum Ratings ....................................................................................................... 11 5. Isolation Specification ............................................................................................................... 11 6. General Electrical Specifications ................................................................................................ 12 7. Timing Specification .................................................................................................................. 14 7.1. General Timing Specifications ............................................................................................... 14 7.2. Timing Modes ........................................................................................................................ 14 7.3. Timing Definitions .................................................................................................................. 16 7.4. SENT timing specifications ..................................................................................................... 18 7.5. PWM timing specifications .................................................................................................... 22 8. Magnetic Field Specifications .................................................................................................... 23 8.1. Rotary Stray-field Immune Mode - Low Field Variant (-100 code) ........................................ 23 8.2. Rotary Stray-field Immune Mode - High Field Variant (-500 code) ....................................... 24 8.3. Linear Stray-field Immune Mode (-200 code) ....................................................................... 25 8.4. Standard/Legacy Mode (-300 code) ...................................................................................... 26 9. Accuracy Specifications ............................................................................................................. 28 9.1. Definitions ............................................................................................................................. 28 9.2. Rotary Stray-field Immune Mode - Low Field Variant (-100 code) ........................................ 29 9.3. Rotary Stray-field Immune Mode - High Field Variant (-500 code) ....................................... 30 9.4. Linear Stray-field Immune Mode ........................................................................................... 30 9.5. Standard/Legacy Mode .......................................................................................................... 31 10. Memory Specifications ............................................................................................................ 32 11. Digital Output Protocol ........................................................................................................... 33 REVISION 8 - 08 MAR 2019 3901090372 Page 4 of 85 MLX90372 - Triaxis® Position Processor Datasheet 11.1. Single Edge Nibble Transmission (SENT) SAE J2716 ............................................................ 33 11.2. PWM (pulse width modulation)........................................................................................... 42 12. End-User Programmable Items ................................................................................................ 43 12.1. End User Identification Items .............................................................................................. 47 13. Description of End-User Programmable Items ......................................................................... 48 13.1. Output modes ...................................................................................................................... 48 13.2. Output Transfer Characteristic ............................................................................................ 49 13.3. Sensor Front-End ................................................................................................................. 57 13.4. Filtering................................................................................................................................ 58 13.5. Programmable Diagnostics Settings .................................................................................... 59 14. Functional Safety .................................................................................................................... 62 14.1. Safety Manual ...................................................................................................................... 62 14.2. Safety Mechanisms .............................................................................................................. 62 15. Recommended Application Diagrams ...................................................................................... 66 15.1. Wiring with the MLX90372 in SOIC-8 Package .................................................................... 66 15.2. Wiring with the MLX90372 in TSSOP-16 Package ................................................................ 67 15.3. Wiring with the MLX90372 in DMP-4 Package (built-in capacitors) .................................... 68 16. Standard information regarding manufacturability of Melexis products with different soldering processes .................................................................................................................. 69 17. ESD Precautions ...................................................................................................................... 69 18. Package Information ............................................................................................................... 70 18.1. SOIC-8 - Package Dimensions .............................................................................................. 70 18.2. SOIC-8 - Pinout and Marking ............................................................................................... 70 18.3. SOIC-8 - Sensitive spot positioning ...................................................................................... 71 18.4. SOIC-8 - Angle detection ..................................................................................................... 72 18.5. TSSOP-16 - Package Dimensions .......................................................................................... 73 18.6. TSSOP-16 - Pinout and Marking ........................................................................................... 74 18.7. TSSOP-16 - Sensitive spot positioning ................................................................................. 74 18.8. TSSOP-16 - Angle Detection................................................................................................. 75 18.9. DMP-4 - Package Outline Dimensions (POD) - STD1 1.27 .................................................... 76 18.10. DMP-4 - Package Outline Dimensions (POD) - STD1 2.54 .................................................. 77 18.11. DMP-4 - Package Outline Dimensions (POD) - STD2 2.54 .................................................. 78 18.12. DMP-4 - Package Outline Dimensions (POD) - STD3 2.00 .................................................. 79 18.13. DMP-4 - Package Outline Dimensions (POD) - STD4 2.54 .................................................. 80 18.14. DMP-4 - Marking ............................................................................................................... 81 REVISION 8 - 08 MAR 2019 3901090372 Page 5 of 85 MLX90372 - Triaxis® Position Processor Datasheet 18.15. DMP-4 - Sensitive Spot Positioning ................................................................................... 81 18.16. DMP-4 - Angle detection ................................................................................................... 84 18.17. Packages Thermal Performances ....................................................................................... 84 19. Contact .................................................................................................................................. 85 20. Disclaimer .............................................................................................................................. 85 REVISION 8 - 08 MAR 2019 3901090372 Page 6 of 85 MLX90372 - Triaxis® Position Processor Datasheet 1. Functional Diagram and Application Modes fig. 1 - MLX90372 Block diagram Rotary Strayfield Immune Angular Rotary Linear Position fig. 2 - Application Modes REVISION 8 - 08 MAR 2019 3901090372 Page 7 of 85 MLX90372 - Triaxis® Position Processor Datasheet 2. Glossary of Terms Name Description ADC Analog-to-Digital Converter AoU Assumption of Use ASP Analog Signal Processing AWD Absolute Watchdog CPU Central Processing Unit CRC Cyclic Redundancy Check %DC Duty Cycle of the output signal i.e. TON /(TON + TOFF) DMP Dual Mould Package DP Discontinuity Point DCT Diagnostic Cycle Time DSP Digital Signal Processing ECC Error Correcting Code EMA Exponential Moving Average EMC Electro-Magnetic Compatibility EoL End of Line FIR Finite Impulse Response Gauss (G) Alternative unit for the magnetic flux density (10G = 1mT) HW Hardware IMC Integrated Magnetic Concentrator INL / DNL Integral Non-Linearity / Differential Non-Linearity IWD Intelligent Watchdog LSB/MSB Least Significant Bit / Most Significant Bit NC Not Connected NVRAM Non Volatile RAM POR Power-on Reset PSF Product Specific Functions PWL Piecewise Linear PWM Pulse Width Modulation RAM Random Access Memory ROM Read-Only Memory SEooC Safety Element out of Context TC Temperature Coefficient (in ppm/°C) Tesla (T) SI derived unit for the magnetic flux density (Vs/m2) Table 3 - Glossary of Terms REVISION 8 - 08 MAR 2019 3901090372 Page 8 of 85 MLX90372 - Triaxis® Position Processor Datasheet 3. Pin Definitions and Descriptions 3.1. Pin Definition for SOIC-8 package Pin # Name Description 1 VDD Supply 2 Input For test or Application 3 Test For test or Application 4 N.C. Not connected 5 OUT Output 6 VSS Digital ground 7 VDEC Decoupling pin 8 VSS Analog ground Table 4 - SOIC-8 Pins definition and description Pins Input and Test are internally grounded in application. For optimal EMC behaviour always connect the unused pins to the ground of the PCB. 3.2. Pin Definition for TSSOP-16 package Pin # Name Description 1 VDEC1 Decoupling pin die1 2 VSS1 Analog ground die1 3 VDD1 Supply die1 4 Input1 For test or Application 5 Test2 For test or Application 6 OUT2 Output die2 7 N.C. Not connected 8 VSS2 Digital ground die2 9 VDEC2 Decoupling pin die2 10 VSS2 Analog ground die2 11 VDD2 Supply die2 12 Input 2 For test or Application 13 Test1 For test or Application 14 N.C. Not connected 15 OUT1 Output die1 16 VSS1 Digital ground die1 Table 5 - TSSOP-16 Pins definition and description REVISION 8 - 08 MAR 2019 3901090372 Page 9 of 85 MLX90372 - Triaxis® Position Processor Datasheet Pins Input and Test are internally grounded in application. For optimal EMC behaviour always connect the unused pins to the ground of the PCB. 3.3. Pin Definition for DMP#1 - Pinout A package DMP-4 package pinout A offers a pin to pin compatibility with the previous generation of Triaxis® products. Pin # Name Description 1 VSS Ground 2 VDD Supply 3 OUT Output 4 VSS Ground Table 6 - DMP-4 Pins definition and description (pinout A) 3.4. Pin Definition for DMP#2 - Pinout B package DMP-4 package configuration pinout B offers full benefit of the applications of Input pin (NTC, digital or analog gateway). Pin # Name Description 1 OUT Output 2 VSS Ground 3 VDD Supply 4 Input NTC/Gateway Table 7 - DMP-4 Pins definition and description (pinout B) REVISION 8 - 08 MAR 2019 3901090372 Page 10 of 85 MLX90372 - Triaxis® Position Processor Datasheet 4. Absolute Maximum Ratings Parameter Symbol Supply Voltage Reverse Voltage Protection Max Unit VDD 28 V < 48h ; Tj < 175°C VDD 37 V < 60s ; TAMB ≤ 35°C Condition VDD-rev -14 V < 48h VDD-rev -20 V < 1h V < 48h V < 48h Positive Output Voltage VOUT Reverse Output Voltage VOUT-rev Internal Voltage Min 28 -14 VDEC VDEC-rev 3.6 -0.3 Positive Input pin Voltage VInput Reverse Input pin Voltage VInput-rev Positive Test pin Voltage VTest Reverse Test pin Voltage VTest-rev -0.3 Operating Temperature TAMB -40 V V 6 -3 V V 3.6 V V +160 °C +175 °C Junction Temperature TJ Storage Temperature TST -55 +170 °C Magnetic Flux Density Bmax -1 1 T see 18.17 for package thermal dissipation values Table 8 - Absolute maximum ratings Exceeding any of the absolute maximum ratings may cause permanent damage. Exposure to absolute maximum ratings conditions for extended periods may affect device reliability. 5. Isolation Specification Only valid for the TSSOP-16 package (code GO, i.e. dual die version). Parameter Isolation Resistance Symbol Min Typ Max Unit Condition Risol 4 - - MΩ Between dice, measured between VSS1 and VSS2 with +/-20V bias Table 9 - Isolation specification REVISION 8 - 08 MAR 2019 3901090372 Page 11 of 85 MLX90372 - Triaxis® Position Processor Datasheet 6. General Electrical Specifications General electrical specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5;5.5] V unless otherwise noted. Electrical Parameter Symbol Min Typ Max Unit Condition Supply Voltage VDD 4.5 5 5.5 V For voltage regulated mode Supply Voltage Battery VDD 6 12 18 V For Battery usage (4) (3) IDD 9.0 10.5 12.6 mA Rotary and linear stray field applications (option code -100, 200, -500) Supply Current(3) IDD 8.0 9.0 10.5 mA Legacy applications (option code 300) Surge Current Isurge - 30 40 mA IC Startup current (tstartup < 40µs) Start-up Level VDDstart 3.6 V Minimal supply start-up voltage PTC Entry Level (rising) VPROV0 7.10 7.35 7.70 V Supply overvoltage detection for 5V applications (4) VPROV0Hyst 400 500 600 mV VPROV1 21.5 23.0 24.5 V For Battery usage (4) VPROV1Hyst 0.8 1.4 2.0 V For Battery usage (4) Undervoltage detection VDDUVH 3.95 4.1 4.25 V Supply undervoltage high threshold Undervoltage detection VDDUVL 3.75 3.90 4.05 V Supply undervoltage low threshold VDEC 3.2 3.3 3.4 V Internal analog voltage Regulated Voltage Overvoltage detection VDECOVH 3.65 3.75 3.85 V High threshold Regulated Voltage Undervoltage detection VDECUVL 2.70 2.85 2.92 V Low threshold VDECOVHyst VDECUVHyst 100 150 200 mV VDDD 1.80 1.85 1.95 V Digital supply Overvoltage detection VDDDOVH 2.00 2.10 2.20 V Digital Supply Undervoltage detection VDDDUVL 1.585 1.680 1.735 V Digital Supply OV / UV detection Hysteresis VPORHyst 30 100 200 mV Supply Current PTC Entry Level Hysteresis PTC Entry Level (rising) PTC Entry Level Hysteresis Regulated Voltage Regulated voltage UV / OV detection hysteresis Digital supply Supply overvoltage hysteresis Power-on Reset low threshold Table 10 - Supply System Electrical Specifications 3 For 4 the dual die version, the supply current is multiplied by 2. Selection between 5V or battery applications is done using WARM_ACT_HIGH parameter. See chap.12 REVISION 8 - 08 MAR 2019 3901090372 Page 12 of 85 MLX90372 - Triaxis® Position Processor Datasheet Electrical Parameter Symbol Min Typ Max Unit Condition Push-pull modes (SENT, PWM) VOUT = 0 V VOUT = 5 V .. 18V Output Short Circuit Current( 5) IOUTshortPP -25 10 -10 25 mA mA Ouput Short Circuit Current IOUTshortOD1 10 25 mA SENT Open Drain (see 13.1.1) VOUT = 5V Output Short Circuit Current IOUTshortOD2 25 90 mA PWM mode Open Drain only (see 13.1.1) RL 3 kΩ PWM pull-up to 5V, PWM pull-down to 0V RL 10 - 55 kΩ SENT pull-up RL 1 - 100 kΩ Open drain pull-up VsatLoPP 0 1 2 5 %VDD RL ≥ 10kΩ RL ≥ 3kΩ, pull-up to 5V VsatLoPP 0 - 2.5 %VDD RL ≥ 10kΩ, ADE version VsatHiPP 98 95 99 100 %VDD RL ≥ 10kΩ RL ≥ 3kΩ, pull-down VsatHiPP 97.5 - 100 %VDD RL ≥ 10kΩ, ADE version VsatLoOD 0 10 %Vext Pull-up to any external voltage Vext ≤ 18V, IL ≤ 3.4mA Digital output Ron Ron 27 50 100 Ω ACC and ACE chip revision. Push-pull mode Digital output Ron Ron 50 100 215 Ω ADE chip revision. Push-pull mode Output Load Digital push-pull output level Digital open drain output level Table 11 - Output Electrical specifications 5 Output current limitation triggers after a typical delay of 3µs. REVISION 8 - 08 MAR 2019 3901090372 Page 13 of 85 MLX90372 - Triaxis® Position Processor Datasheet 7. Timing Specification Timing specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5; 5.5] V unless otherwise noted. 7.1. General Timing Specifications Parameter Main Clock Frequency Symbol Min. Typ Max. Unit Condition 22.8 24 25.2 MHz Including thermal and lifetime drift 5 %Fck Relative tolerances, including thermal and lifetime drift FCK -5 Main Clock initial tolerances ΔFCK,0 23.75 24 24.25 MHz T=35°C Main Clock Frequency Thermal Drift ΔFCK,T -2 - 2 %Fck Relative to clock frequency at 35°C. No ageing effects. 1MHz Clock Frequency F1M Intelligent Watchdog Timeout TIWD 19 20 21 ms FCK = 24MHz Absolute Watchdog Timeout TAWD 19 20 21 ms F1M = 1MHz DCTANA 34 34 17 17 Tframe Sync. Mode, NangFram=2 34 34 Tframe Sync. Mode, NangFram=1 20 ms see Table 72, section 14.2 Analog Diagnostics DCT Digital Diagnostics DCT Fail Safe state duration Safe Startup Time 1 DCTDIG MHz TangleMeas Asynchronous mode (7.2.1) TFSS 9.8 28.4 11.0 32.0 11.9 34.6 ms After a digital single-event fault ACE / ADE versions ACC version TSafeStup - 11.2 12.4 ms Only valid for ACE / ADE versions (see. 7.3.1.2) Table 12 - General Timing Specifications 7.2. Timing Modes The MLX90372 can be configured in two continuous angle acquisition modes described in the following sections. 7.2.1. Continuous Asynchronous Acquisition Mode In this mode, the sensor continuously acquire angle at a fixed rate that is asynchronous with regards to the output. The acquisition rate is defined by the T_ADC_SEQ parameter which defines the angle measurement period TangleMeas. This mode is used in SENT without pause and PWM. Despite that PWM is periodic, asynchronous mode is better suited and enable complete filtering options for PWM signals that are often slow compared to the measurement sequence. REVISION 8 - 08 MAR 2019 3901090372 Page 14 of 85 MLX90372 - Triaxis® Position Processor Datasheet fig. 3 - Continuous Asynchronous Timing Mode Parameter Symbol Angle acquisition time TangleAcq Internal Angle Measurement Period TangleMeas 528 588 - μs Typical is default factory settings (no user control) NTframe 282 - - ticks Do not change for asynchronous mode (see chap.12, T_FRAME) SENT Frame Tick Count Min. Typ Max. 330 Unit Condition μs Table 13 - Continuous Asynchronous Timing Mode 7.2.2. Continuous Synchronous Acquisition Mode In continuous synchronous timing mode, the sensor acquires angles based on the output frequency. As a consequence, the output should have a fixed frame frequency. This mode makes sense only with constant SENT frame length (SENT with pause). The length of the SENT frame is defined by the parameter T_FRAME in number of ticks. The user has the choice to select either one or two angle acquisitions and DSP calculations per frame. fig. 4 - Continuous Synchronous Timing Mode REVISION 8 - 08 MAR 2019 3901090372 Page 15 of 85 MLX90372 - Triaxis® Position Processor Datasheet Following table describes the frame length of synchronous acquisition mode with regards to T_FRAME parameter value (see chap. 12). Minimal values represent MLX90372 best achievable performance. Typical values are default or recommended values. Maximal values are limited by the SAE J2716 standard and not displayed in this table. For a chosen timing configuration, one has to take into account the main clock relative tolerances listed in Table 12 to get a tolerance on the frame length. Parameter Symbol Min Typ Max Unit Condition SENT Frame Tick Count (Normal SENT) NTframe 310(6) 320 - ticks For tick time of 3μs (Normal SENT) and two angles per frame SENT Frame Tick Count (Normal SENT) NTframe 282(6) 304(7) - ticks For tick time of 3μs (Normal SENT) and one angle per frame SENT Frame Tick Count (Fast SENT) NTframe 320(6) 330 - ticks For tick time of 1.5μs (Fast SENT) and one angle per frame SENT Frame Period (Normal) Tframe 930(6) 960 - μs 3μs tick time with pause and two angles per frame (FCK = 24MHz) SENT Frame Period (Fast) Tframe 480(6) 495 - μs 1.5μs tick time with pause, one angle per frame (FCK = 24MHz) NangFram 1 2 2 Number of angles per frame set by TWO_ANGLES_FRAME parameter Table 14 - SENT Synchronous Timing Mode Configurations 7.3. Timing Definitions 7.3.1. Startup Time and Startup Phases definition VDDstart Supply Voltage SENT output Tinit High-Z Tstup Null Frame Null Frame Null Frame Valid Angle Valid Angle Tstup3 Tstup2 Tstup1 Output Ready PWM output High-Z (no drive) First Sync Pulse First Valid Angle fig. 5 - Startup Time Definition 6 Minimal timings are only confirmed to work in a specific configuration and may lead to noise degradation. Melexis recommends typical configuration (factory settings) for safe operation with any end user configuration. 7 This timing optimizes the startup time (see Table 17) REVISION 8 - 08 MAR 2019 3901090372 Page 16 of 85 MLX90372 - Triaxis® Position Processor Datasheet 7.3.1.1. Normal Startup A typical startup in SENT consists of two main phases. During the first one, the circuit performs its initialisation until being able to start acquiring angles and transmitting SENT frames. This first phase lasts Tinit milliseconds. After that time, the IC starts transmitting SENT initialisation frames, also called null frames, their content being mainly zeros. During the second phase, the sensor acquires angles until the amplification chain gain settles. The overall startup time Tstup is the time between power up and complete transmission of the first valid angle. 7.3.1.2. Safe Startup When COLD_SAFE_STARTUP_EN is set (see chap. 12, End-User Programmable Items), the circuit performs a full diagnostic cycle before starting the transmission of an angle. This sequence lasts TSafeStup milliseconds (see Table 12 - General Timing Specifications). After Tinit, the circuit start sending null SENT frames until the full diagnostic sequence is complete. 7.3.1.3. Startup phase in PWM mode In PWM mode, startup is defined by three values, T stup[1..3]. The first value is reached when the output is ready and starts to drive a voltage. The second value T2 is the start of the first value angle transmission and the third one T3 the moment the first angle has been transmitted. 7.3.2. Latency (average) Latency is the average lag between the movement of the detected object (magnet) and the response of the sensor output. This value is representative of the time constant of the system for regulation calculations. fig. 6 - Definition of Latency 7.3.3. Step Response (worst case) Step response is defined as the delay between a change of position of the magnet and the 100% settling time of the sensor output with full angle accuracy with regards to filtering. Worst case is happening when the movement of the magnet occurs just after a measurement sequence has begun. Step response therefore consists of the sum of:     δmag,measSeq, the delay between magnetic change and start of next measurement sequence TmeasSeq, the measurement sequence length δmeasSeq,frameStart, the delay between end of measurement sequence and start of next frame Tframe, the frame length REVISION 8 - 08 MAR 2019 3901090372 Page 17 of 85 MLX90372 - Triaxis® Position Processor Datasheet Worst case happens when δmag,measSeq = TmeasSeq , which gives: 𝑇𝑇𝑤𝑤𝑤𝑤𝑆𝑆𝑡𝑡𝑡𝑡𝑝𝑝 = 2𝑇𝑇𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 + 𝛿𝛿𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚,𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 + 𝑇𝑇𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓𝑓 Magnetic step (input change) δ mag,measSeq T measSeq δ mag,measSeq Output response to the magnetic step T frame partial response Complete response End of SENT/PWM Frame Measurement sequence SENT w pause PWM Step Response fig. 7 - Step Response Definition 7.4. SENT timing specifications 7.4.1. MLX90372 ACE/ADE SENT Timing Specifications Timing specifications are valid for a given configuration of the SENT frame and tick time (see 11.1.9) Parameter Symbol Min Typ Max Unit Condition 1.5 3 6 μs 1.5μs = Fast SENT 3μs = Normal SENT (default) 6μs = Slow SENT - 2.95 3.10 ms Until initialisation frame start SENT edge rise Time 4.5 6.2 7.5 μs SENT edge fall Time 3.9 4.8 5.2 μs for SENT_SEL_SR_RISE/FALL = 4 (see 11.1.6) Tick time SENT startup time (up to first sync pulse) Slow Message cycle length Tinit 691 415 ms Extended sequence (40 frames ) Short sequence (24 frames ) Table 15 - SENT General Timing Specifications REVISION 8 - 08 MAR 2019 3901090372 Page 18 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 3μs tick time, 2 angles per SENT frame, T_FRAME = 310 SENT startup time Tstup - 6.48 - ms Until first valid angle received Average Latency Tlatcy - 1.73 2.19 - ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) TwcStep - - 2.98 3.91 ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) Step Response (worst case) For SENT with pause (synchronous), 3μs tick time, 2 angles per SENT frame, T_FRAME = 320 SENT startup time Tstup - 6.60 - ms Until first valid angle received Average Latency Tlatcy - 1.77 2.25 - ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) TwcStep - - 3.12 4.08 ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) Step Response (worst case) For SENT with pause (synchronous), 3μs tick time, 1 angle per SENT frame, T_FRAME = 282 SENT startup time Tstup - 6.99 - ms Until first valid angle received Average Latency Tlatcy - 1.33 - ms Filter = 0 (no filter) TwcStep - - 2.32 ms Filter = 0 (no filter) Step Response (worst case) For SENT with pause (synchronous), 3μs tick time, 1 angle per SENT frame, T_FRAME = 304 SENT startup time Tstup - 6.41 - ms Until first valid angle received Average Latency Tlatcy - 1.54 - ms Filter = 0 (no filter) TwcStep - - 2.60 ms Filter = 0 (no filter) Step Response (worst case) Table 16 - Synchronous SENT Mode Timing Specifications for 3us tick time Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 1.5μs tick time, 1 angle per SENT frame, T_FRAME = 320 SENT startup time Average Latency Step Response (worst case) 8 Tstup Tlatcy TwcStep 6.12 6.23 - 0.98 1.15 1.31 - - 1.58 1.89 2.20 - - ms Until first valid angle received ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) See section 13.4 for details concerning Filter parameter REVISION 8 - 08 MAR 2019 3901090372 Page 19 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 1.5μs tick time, 1 angle per SENT frame, T_FRAME = 330 SENT startup time Average Latency Tstup Tlatcy Step Response (worst case) TwcStep 6.12 6.23 - 1.05 1.21 1.37 - - 1.63 1.95 2.27 - - ms Until first valid angle received ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) Table 17 - Synchronous SENT Mode Timing Specifications for 1.5us tick time Parameter Symbol Min Typ Max Unit Condition For SENT without pause (asynchronous), 3μs tick time(9) SENT startup time Average Latency (9) Step Response (worst case) Tstup 6.25 6.42 6.39 6.56 Tlatcy 1.40 1.67 2.20 1.40 1.70 2.29 - - 2.41 2.94 4.00 2.72 3.32 4.50 TwcStep 6.51 6.68 ms Until first valid angle received with SENT_INIT_GM = 1 ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) For SENT without pause (asynchronous), 1.5μs tick time(9) SENT startup time Average Latency (9) Step Response (worst case) Tstup 6.42 6.50 Tlatcy 0.91 1.17 1.70 0.91 1.21 1.80 - - 1.76 2.29 3.34 1.94 2.54 3.72 TwcStep 6.56 ms Until first valid angle received ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) ms Filter = 0 (no filter) Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) Table 18 - Asynchronous SENT Mode Timing Specifications 9 In asynchronous mode, the latency is defined as an average delay with regards to all possible variations. For worst case, refer to step response (worst case) values REVISION 8 - 08 MAR 2019 3901090372 Page 20 of 85 MLX90372 - Triaxis® Position Processor Datasheet 7.4.2. MLX90372 ACC Default SENT Timing specifications MLX90372 ACC versions come with the following typical default programming that differs from ACE/ADE version (see chapter 12, item no 134, T_FRAME). Parameter SENT Frame Tick Count (Normal SENT) Symbol Min Typ Max Unit Condition NTframe - 366 - ticks For tick time of 3μs (Normal SENT) and two angles per frame ms Extended sequence (40 frames ) Short sequence (24 frames ) 791 475 Slow Message cycle length Table 19 - Default ACC Synchronous SENT frame length For this typical value, the timing performances are described in the next table (Table 20). ACC has the same timing capabilities than the ACE and can be programmed in a similar way. When the ACC default programming is changed to match the one of ACE/ADE, timing performances are equivalent. For timing performances not described in this section, refer to the Table 14 and section 7.4.1. Parameter Symbol Min Typ Max Unit Condition For SENT with pause (synchronous), 3μs tick time, 2 angles per SENT frame SENT startup time Tstup - 7.18 - ms Until first valid angle received Average Latency Tlatcy - 1.79 2.33 - ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (10) TwcStep - - 3.28 4.38 ms Filter = 1 (FIR11) Filter = 2 (FIR1111) (8) Step Response (worst case) For SENT with pause (synchronous), 3μs tick time, 1 angle per SENT frame(11) SENT startup time Tstup - 6.60 - ms Until first valid angle received Average Latency Tlatcy - 1.49 - ms Filter = 0 (no filter) TwcStep - - 2.61 ms Filter = 0 (no filter) Step Response (worst case) Table 20 - Synchronous SENT mode ACC default timing specifications 10 See section 13.4 for details concerning Filter parameter 11 Need experimental/formal confirmation, data based on simulation REVISION 8 - 08 MAR 2019 3901090372 Page 21 of 85 MLX90372 - Triaxis® Position Processor Datasheet 7.5. PWM timing specifications For the parameters in below table, maximum timings correspond to minimal frequency and vice versa. Parameter Symbol Min Typ Max Unit FPWM 100 1000 2000 Hz PWM Frequency Initial Tolerances ΔFPWM,0 -1.5 1.5 %FPWM PWM Frequency Thermal Drift ΔFPWM,T -2.0 2.0 %FPWM PWM Frequency Drift ΔFPWM -5.0 5.0 %FPWM PWM startup Time (up to output ready) Tstup1 PWM startup Time (up to first sync. Edge) Tstup2 7.10 7.60 16.6 ms Tstup1 + TPWM PWM startup Time (up to first data received) Tstup3 7.60 8.60 26.6 ms Tstup1 + 2* TPWM (12) Rise Time PWM 1.0 4.8 12.0 μs Fall Time PWM 1.0 4.8 12.0 μs typ. for SENT_SEL_SR_RISE/FALL = 4 (see 11.1.6). Measured between 1.1V and 3.8V PWM Frequency 6.60 Condition T=35°C, can be trimmed at EOL Over temperature and lifetime ms Table 21 - PWM timing specifications 12 First frame transmitted has no synchronization edge; therefore the second frame transmitted is the first complete one. REVISION 8 - 08 MAR 2019 3901090372 Page 22 of 85 MLX90372 - Triaxis® Position Processor Datasheet 8. Magnetic Field Specifications Magnetic field specifications are valid for temperature range [-40; 160] °C unless otherwise noted. 8.1. Rotary Stray-field Immune Mode - Low Field Variant (-100 code) Parameter Symbol Min Typ Max Number of magnetic poles NP 4( 13) - - Magnetic Flux Density in XY plane BX, BY( 14) 25(15) mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 Magnetic Flux Density in Z BZ 100 mT (this is not the useful signal) 1 0 mT mm Magnetic in-plane gradient of in-plane field component Magnet Temperature Coefficient ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 3.8 10 TCm -2400 0.075 0.100 0.125 Field too Low Threshold(17) ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 BTH_LOW 0.8 1.2 ( 18) Field too High Threshold(17) BTH_HIGH 70 100(19) 102(19) Field Strength Resolution(16) Unit ppm °C mT mm LSB mT mm mT mm Condition (this is not the useful signal) 2 2 ��𝑑𝑑𝐵𝐵𝑋𝑋 − 𝑑𝑑𝐵𝐵𝑌𝑌 � + �𝑑𝑑𝐵𝐵𝑋𝑋 + 𝑑𝑑𝐵𝐵𝑌𝑌 � 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑 2 this is the useful signal (see fig. 8) Magnetic field gradient norm (12bits data) Typ is recommended value to be set by user Typ is recommended value to be set by user Table 22 - Magnetic specification for rotary stray-field immune- low field variant Nominal performances apply when the useful signal ∆𝐵𝐵𝑋𝑋𝑋𝑋 /∆𝑋𝑋𝑋𝑋 is above the typical specified limit. Under this value, limited performances apply. See 8.1 for accuracy specifications. 13 Due to 4 poles magnet usage, maximum angle measurement range is limited to 180° 14 The condition must be fulfilled for all combinations of B X and BY. 15 Above this limit, the IMC® starts to saturate, yielding to an increase of the linearity error. 16 Only valid with default MAGNET_SREL_T[1..7] configuration 17 Typ. value is set by default for NVRAM rev.9 and shall be set by user for rev.8 (see Table 50, USER_ID3 and Table 49) Higher values of Field too Low threshold are not recommended by Melexis and shall only been set in accordance with the magnetic design and taking a sufficient safety margin to prevent false positive. 18 19 Due to the saturation effect of the IMC, the FieldTooHigh monitor detects only defects in the sensor REVISION 8 - 08 MAR 2019 3901090372 Page 23 of 85 MLX90372 - Triaxis® Position Processor Datasheet Temperature (°C) 160 Limited Performances Nominal Performances Typical magnet characteristics -40 3.8 5.7 10 ∆B XY  mT    ∆XY  mm  fig. 8 - Minimum useful signal definition for rotary stray-field immune application-low field variant 8.2. Rotary Stray-field Immune Mode - High Field Variant (-500 code) Parameter Symbol Min Typ Max Number of magnetic poles NP 4(13) - - Magnetic Flux Density in XY plane BX, BY (14) Magnetic Flux Density in Z BZ Magnetic in-plane gradient of in-plane field component Magnet Temperature Coefficient Field Strength Resolution(16) ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 TCm ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋𝑋𝑋 8.25 Unit Condition 67(15) mT 100 mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 0 mT mm 21 -2400 0.075 0.100 0.125 Field too Low Threshold(17) BTH_LOW 1.2 2 (18) Field too High Threshold(17) BTH_HIGH 80 100(19) 102(19) ppm °C mT mm LSB mT mm mT mm (this is not the useful signal) (this is not the useful signal) 1 2 2 ��𝑑𝑑𝐵𝐵𝑋𝑋 − 𝑑𝑑𝐵𝐵𝑌𝑌 � + �𝑑𝑑𝐵𝐵𝑋𝑋 + 𝑑𝑑𝐵𝐵𝑌𝑌 � 𝑑𝑑𝑑𝑑 𝑑𝑑𝑌𝑌 𝑑𝑑𝑑𝑑 this is the useful signal. 𝑑𝑑𝑑𝑑 2 Magnetic field gradient norm (12bits data) Typ is recommended value to be set by user Typ is recommended value to be set by user Table 23 - Magnetic specification for rotary stray-field immune See 8.2 for accuracy specifications. REVISION 8 - 08 MAR 2019 3901090372 Page 24 of 85 MLX90372 - Triaxis® Position Processor Datasheet 8.3. Linear Stray-field Immune Mode (-200 code) Parameter Symbol Min Typ Max 2 - Unit Condition Number of magnetic poles NP Magnetic Flux Density in X BX 80(20) mT BY ≤ 20mT BX, BY( 21) 70(22) mT BZ 100 mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 , BY>20mT Magnetic Flux Density in X-Y Magnetic Flux Density in Z Magnetic gradient of X-Z field components Distance between the two IMC® ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋 GIMC Magnet Temperature Coefficient TCm ∆𝐵𝐵𝑋𝑋𝑋𝑋 ∆𝑋𝑋 mT mm 6( 23) 1.91 ∆𝑋𝑋 IMC gain Field Strength Resolution(16) 3 Linear movement mm ∆𝐵𝐵𝑍𝑍 2 ( 24) � 𝐼𝐼𝐼𝐼𝐼𝐼 ∆𝑋𝑋 see chapter 18 for magnetic center definitions see (24) 1.19 -2400 2 ��∆𝐵𝐵𝑋𝑋 � + � 1 ∆𝑋𝑋 𝐺𝐺 0 0.037 0.05 0.063 Field too Low Threshold(17) BTH_LOW 0.2 1.2 ( 25) Field too High Threshold(17) BTH_HIGH 35 50 51 ppm °C mT Magnetic field gradient norm mm LSB expressed in 12bits words mT mm mT mm Typ is recommended value to be set by user Typ is recommended value to be set by user Table 24 - Magnetic specifications for linear stray-field application Nominal performances apply when the useful signal ∆Bxz/∆x and temperature ranges are inside the values defined in the following figure (fig. 9). At higher temperature or lower field gradients, the accuracy of MLX90372 is degraded and Limited Performances, described in section 9.4.2, apply. 20 Above 21 80 mT, with BY field in the mentioned limits, the IMC® starts saturating yielding to an increase of the linearity error. The condition must be fulfilled for all combinations of B x and By. 22 Above 70 mT, the IMC® starts saturating yielding to an increase of the linearity error. 23 Below 6 mT/mm, the performances are degraded due to a reduction of the signal-to-noise ratio, signal-to-offset ratio. 24 IMC has better performance for concentrating in-plane (X-Y) field components, resulting in a better magnetic sensitivity. A correction factor, called IMC gain has to be applied to the Z field component to account for this difference. Higher values of Field too Low threshold are not recommended by Melexis and shall only been set in accordance with the magnetic design and taking a sufficient safety margin to prevent false positive. 25 REVISION 8 - 08 MAR 2019 3901090372 Page 25 of 85 MLX90372 - Triaxis® Position Processor Datasheet 160 Limited Performances 135 Temperature (°C) Limited Performances Typical magnet characteristics 3 Nominal Performances 6 ∆BXZ  mT    ∆X  mm  -40 fig. 9 - Minimum useful signal definition for linear stray-field immune application 8.4. Standard/Legacy Mode (-300 code) Parameter Symbol Min. Typ. Max. Number of magnetic poles NP - 2 - Magnetic Flux Density in XY plane Bx, By(21) Magnetic Flux Density in Z Bz Useful Magnetic Flux Density Norm Unit Condition 70 mT 100 mT �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 in absolute value �𝐵𝐵𝑋𝑋2 + 𝐵𝐵𝑌𝑌2 (X-y mode) BNorm 10(26) 20 mT �𝐵𝐵𝑋𝑋2 + � 1 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 �𝐵𝐵𝑌𝑌2 + � 1 𝐺𝐺𝐼𝐼𝐼𝐼𝐼𝐼 2 𝐵𝐵𝑍𝑍 � (X-Z mode) 2 𝐵𝐵𝑍𝑍 � (Y-Z mode) see 13.3.1 for sensing mode description. IMC gain GIMC Magnet Temperature Coefficient TCm -2400 Field Strength Resolution(28) BNorm 0.075 26 1.19 see 0 0.100 0.125 ppm °C mT LSB 27 Magnetic field gradient norm expressed in 12bits words Below 10 mT the performances are degraded due to a reduction of the signal-to-noise ratio, signal-to-offset ratio IMC has better performance for concentrating in-plane (X-Y) field components, resulting in a better overall magnetic sensitivity. A correction factor, called IMC gain has to be applied to the Z field component to account for this difference. 27 REVISION 8 - 08 MAR 2019 3901090372 Page 26 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter Symbol Min. Typ. Max. Unit Condition Field Too Low Threshold(29) BTH_LOW 0.4 4.0 (25) mT Typ is recommended value to be set by user Field Too High Threshold(29) BTH_HIGH 70 100(30) 100(30) mT Typ is recommended value to be set by user Table 25 - Magnetic specifications for Standard application Nominal performances apply when the useful signal BNorm is above the typical specified limit. Under this value, limited performances apply. See 9.5 for accuracy specifications. 160 Temperature (°C) Limited Performances -40 Nominal Performances Typical magnet characteristic 10 15 20 Norm (mT) fig. 10 - Minimum useful signal definition for Standard/Legacy application 28 Only valid with default MAGNET_SREL_T[1..7] configuration 29 Typ. value is set by default for NVRAM rev.9 and shall be set by user for rev.8 (see Table 50, USER_ID3 and Table 49) 30 Due to the saturation effect of the IMC, the FieldTooHigh monitor detects only defects in the sensor REVISION 8 - 08 MAR 2019 3901090372 Page 27 of 85 MLX90372 - Triaxis® Position Processor Datasheet 9. Accuracy Specifications Accuracy specifications are valid for temperature range [-40;160] °C and supply voltage range [4.5 - 5.5] V unless otherwise noted. 9.1. Definitions This section defines several parameters, which will be used for the magnetic specifications. rv Cu d ur re lC su ea ea Id M Output (%DC, Deg) ve e 9.1.1. Intrinsic Linearity Error Noise (pk-pk) Intrinsic Linearity Error (LE) ±3σ Input (Deg.) fig. 11 - Sensor accuracy definition Illustration of fig. 11 depicts the intrinsic linearity error in new parts. The Intrinsic Linearity Error refers to the IC itself (offset, sensitivity mismatch, orthogonality) taking into account an ideal magnetic field. Once associated to a practical magnetic construction and the associated mechanical and magnetic tolerances, the output linearity error increases. However, it can be improved with the multi-point end-user calibration (see 13.2). As a consequence, this error is not critical in application because it is calibrated away. 9.1.2. Total Angle Drift After calibration, the output angle of the sensor might still change due to temperature change, aging, etc.. This is defined as the total drift 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇 : 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇 = max{𝜃𝜃(𝜃𝜃𝐼𝐼𝐼𝐼 , 𝑇𝑇, 𝑡𝑡) − 𝜃𝜃(𝜃𝜃𝐼𝐼𝐼𝐼 , 𝑇𝑇𝑅𝑅𝑅𝑅 , 𝑡𝑡0 )} where 𝜃𝜃𝐼𝐼𝐼𝐼 is the input angle, 𝑇𝑇 is the temperature, 𝑇𝑇𝑅𝑅𝑅𝑅 is the room temperature, and 𝑡𝑡 is the elapsed lifetime after calibration. 𝑡𝑡0 represents the status at the start of the operating life. Note the total drift 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇 is always defined with respect to angle at room temperature. In this datasheet, 𝑇𝑇𝑅𝑅𝑅𝑅 is typically defined at 35°C, unless stated otherwise. The total drift is valid for all angles along the full mechanical stroke. REVISION 8 - 08 MAR 2019 3901090372 Page 28 of 85 MLX90372 - Triaxis® Position Processor Datasheet 9.2. Rotary Stray-field Immune Mode - Low Field Variant (-100 code) 9.2.1. Nominal Performance Valid before EoL calibration and for all applications under nominal performances conditions described in section 8.1 (fig. 8) and chapter 6. Parameter XY - Intrinsic Linearity Error Symbol Min LE_XY -1 Typ Noise (31) XY - Total Drift (33) Hysteresis Output Stray Field Immunity 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.85 Max Unit 1 Deg. 0.2 0.4 Deg. Filter = 2 Filter = 0 ( 32) 0.85 Deg. Relative to 35°C 0.1 Deg. 0.6 ∂θFF Condition Deg. with 10mT/mm useful gradient field and 4kA/m stray-field (34) Table 26 - Rotary stray-field immune nominal magnetic performances 9.2.2. Limited Performances Valid before EoL calibration and for all applications under limited performances conditions described in section 8.1 (fig. 8) and chapter 6. Parameter XY - Intrinsic Maximum Error Noise Symbol Min LE -1 Typ (31) XY - Total Drift (33) Hysteresis 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.85 0.1 Max Unit 1 Deg. Condition 0.7 0.5 0.35 Deg. Filter = 0 Filter = 1 Filter = 2 0.85 Deg. Relative to 35°C Deg. Table 27 - Rotary stray-field immune limited magnetic performances 31 ±3σ 32 See section 13.4 for details concerning Filter parameter Verification done on new and aged devices in an ideal magnetic field gradient (see 9.1.2). An additional application-specific error arises from the non-ideal magnet and mechanical tolerance drift. 33 Tested in accordance with ISO 11452-8:2015, at 30°C, with stray-field strength of 4kA/m from any direction. This error scales linearly with both the useful field and the disturbing field. 34 REVISION 8 - 08 MAR 2019 3901090372 Page 29 of 85 MLX90372 - Triaxis® Position Processor Datasheet 9.3. Rotary Stray-field Immune Mode - High Field Variant (-500 code) Valid before EoL calibration and for all applications under nominal performances conditions described in section 8.2 and chapter 6. Parameter XY - Intrinsic Linearity Error Noise Symbol Min LE_XY -1 Typ (31) XY - Total Drift (33) Hysteresis Output Stray Field Immunity 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.67 -0.60 Max Unit 1 Deg. 0.25 0.35 0.5 Deg. Filter = 2 Filter = 1 Filter = 0 (32) 0.67 0.60 Deg. for the full temperature range for Tmax = 140°C 0.1 Deg. 0.30 ∂θFF Condition Deg. with 21mT/mm useful gradient field and 4kA/m stray-field (34) Table 28 - Rotary stray-field immune nominal magnetic performances 9.4. Linear Stray-field Immune Mode (-200 code) 9.4.1. Nominal Performances Valid before EoL calibration and for all applications under nominal conditions described in section 8.3 (fig. 9) and chapter 6. Parameter XZ - Intrinsic Maximum Error Noise Symbol Min Typ Max Unit LE_XZ -2.5 ±1.25 2.5 Deg. 0.10 0.15 - 0.20 0.30 0.25 Deg. Filter = 1, 6mT/mm Filter = 0, 6mT/mm Filter = 0, 6mT/mm, Tmax=125°C 0.8 Deg. Compared to 35°C, 6mT/mm gradient field 0.10 Deg. 6mT/mm gradient field 0.8 Deg. For 6mT/mm gradient field and 4kA/m stray-field (34) 0.2 Deg. For 6mT/mm gradient field and 1kA/m stray-field (34) (31) XZ - Total Drift (33) Hysteresis Output Stray Field Immunity Output Stray Field Immunity REVISION 8 - 08 MAR 2019 3901090372 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 ∂θFF ∂θFF -0.8 Condition Table 29 - Linear stray-field immune magnetic performances Page 30 of 85 MLX90372 - Triaxis® Position Processor Datasheet 9.4.2. Limited Performances Valid before EoL calibration and for all applications under limited performances conditions described in section 8.3 (fig. 9) and chapter 6. Parameter XZ - Intrinsic Maximum Error Noise Symbol Min Typ Max Unit LE_XZ -4 ±2 4 Deg. 0.20 0.25 - 0.40 0.65 0.45 Deg. Filter = 1, 3mT/mm Filter = 0, 3mT/mm Filter = 0, 3mT/mm, Tmax=125°C 1.4 Deg. Compared to 35°C, 3mT/mm 0.25 Deg. 3mT/mm (35) XZ - Total Drift (33) Hysteresis 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -1.4 Condition Table 30 - Linear stray-field immune limited magnetic performances 9.5. Standard/Legacy Mode (-300 code) 9.5.1. Nominal Performances Valid before EoL calibration and for all applications under nominal conditions described in section 8.4 (fig. 10) and chapter 6. Parameter Symbol Min XY - Intrinsic Linearity Error LE_XY -1 XZ - Intrinsic Linearity Error LE_XZ -2.5 YZ - Intrinsic Linearity Error LE_YZ -2.5 Noise (35) XY - Total Drift (36) XZ - Total Drift (36) YZ - Total Drift (36) Hysteresis Typ Max Unit Condition 1 Deg. ±1.25 2.5 Deg. ±1.25 2.5 Deg. 0.05 0.1 0.05 0.1 0.2 0.1 Deg. Filter = 0, 40mT Filter = 0, 20mT Filter = 2 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.45 0.45 Deg. Relative to 35°C -0.6 0.6 Deg. Relative to 35°C 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑌𝑌𝑌𝑌 -0.6 0.6 Deg. Relative to 35°C 0.1 Deg. 20mT 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 0.05 Table 31 - Standard Mode Nominal Magnetic Performances 35 ±3σ Verification done on new and aged devices in an ideal magnetic field (see 9.1.2). An additional application-specific error arises from the non-ideal magnet and mechanical tolerance drift. 36 REVISION 8 - 08 MAR 2019 3901090372 Page 31 of 85 MLX90372 - Triaxis® Position Processor Datasheet 9.5.2. Limited Performances Valid before EoL calibration and for all applications under limited performances conditions described in section 8.4 (fig. 10) and chapter 6. Parameter Symbol Min XY - Intrinsic Linearity Error LE_XY -1 XZ - Intrinsic Linearity Error LE_XZ -2.5 YZ - Intrinsic Linearity Error LE_YZ -2.5 Noise Typ Max Unit 1 Deg. ±1.25 2.5 Deg. ±1.25 2.5 Deg. 0.2 0.14 0.1 0.4 0.28 0.2 Deg. Filter = 0 Filter = 1 Filter = 2 (35) XY - Total Drift (36) XZ - Total Drift (36) YZ - Total Drift (36) Hysteresis Condition 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 -0.6 0.6 Deg. Relative to 35°C -0.8 0.8 Deg. Relative to 35°C 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑌𝑌𝑌𝑌 -0.8 0.8 Deg. Relative to 35°C 0.2 Deg. 10mT 𝜕𝜕𝜕𝜕𝑇𝑇𝑇𝑇_𝑋𝑋𝑋𝑋 0.1 Table 32 - Standard Mode Limited Magnetic Performances 10. Memory Specifications Parameter Symbol ROM ROMsize 32 kB 1 bit parity check (single error detection) RAM RAMsize 1024 B 1 bit parity check (single error detection) NVRAMsize 256 B 6 bits ECC (single error correction, double error detection) NVRAM Min Typ Max Unit Note Table 33 - Memory Specifications REVISION 8 - 08 MAR 2019 3901090372 Page 32 of 85 MLX90372 - Triaxis® Position Processor Datasheet 11. Digital Output Protocol 11.1. Single Edge Nibble Transmission (SENT) SAE J2716 The MLX90372 provides a digital output signal compliant with SAE J2716 Revised APR2016. 11.1.1. Sensor message definition The MLX90372 repeatedly transmits a sequence of pulses, corresponding with a sequence of nibbles (4 bits), with the following sequence:      Calibration/Synchronization pulse period 56 clock ticks to determine the time base of the SENT frame One 4 bit Status and Serial Communication nibble pulse A sequence of one up to six 4 bits data nibbles pulses representing the values of the signal(s) to be transmitted. The number of nibbles will be fixed for each application of the encoding scheme (i.e. Singe Secure sensor format A.3, Throttle positions sensor A.1) One 4 bits Checksum nibble pulse One optional pause pulse See also SAE J2716 APR2016 for general SENT specification. fig. 12 - SENT message encoding example for two 12bits signals REVISION 8 - 08 MAR 2019 3901090372 Page 33 of 85 MLX90372 - Triaxis® Position Processor Datasheet 11.1.2. Sensor message frame contents The MLX90372 SENT transmits a sequence of data nibbles, according to the following configurations: Description Symbol SENT SENTrev Clock tick time Min Typ Max 2010 2016 tickTime 1 3 Number of data nibbles Xdn 3 6 Frame duration (no pause pulse) Npp 154 Frame duration with pause pulse Ppc 282 Sensor type A.1 A.3 320 Unit Description SENT revision. Supports enhanced serial channel messages (2016) Main use cases : Fast SENT, 1.5µs tick time Normal SENT, 3µs tick time Slow SENT, 6µs tick time (see section 7.4) 12 µs 270 ticks 6 data nibbles 922 ticks Valid for 3µs tick time Dual Throttle Position sensors Single Secure sensors Table 34 - SENT Protocol Frame Definition 11.1.3. Single secure sensor A.3 The MLX90372 SENT transmits a sequence of data nibbles; according single secure sensor format defined in SAE J2716 appendix A.3.The frame contains 12 bit angular value, a 8 bit rolling counter and an inverted copy of the most significant nibble of angular value. SM [1:0] S [1:0] Ch 1 [11:8] Ch 1 [7:4] Ch 1 [3:0] COUNT [7:4] 12 bit angle data ~Ch 1 [11:8] COUNT [3:0] CRC 8 bit rolling counter fig. 13 - A.3 Single Secure Sensor Frame Format Shorthand Description Tick time Data nibbles Pause Pulse Serial message Data format SENT2010-03.0us-6dn-ppc(366.0)-esp-A.3 3µs 6 Y Enhanced A.3 SENT2010-03.0us-6dn-ppc(366.0)-nsp-A.3 3µs 6 Y None A.3 SENT2010-03.0us-6dn-npp-nsp-A.3 3µs 6 N None A.3 1..12 6 Y/N En/None A.3 SENT2010-##-#us-#dn-###()-###-A.3 Table 35 - A.3 Single Secure Sensor Shorthand examples REVISION 8 - 08 MAR 2019 3901090372 Page 34 of 85 MLX90372 - Triaxis® Position Processor Datasheet 11.1.4. Dual Throttle position sensor A.1 The MLX90372 SENT transmits a sequence of data nibbles; according dual throttle positions sensor defined in SAE J2716 appendix A.1.The frame contains two 12 bit angular values. SM [1:0] S [1:0] Ch 1 [7:4] Ch 1 [11:8] Ch 1 [3:0] Ch2 [3:0] 12 bit angle data Ch2 [7:4] Ch2 [11:8] CRC 12 bit angle data fig. 14 - A.1 Dual Throttle Position Sensor Frame Format Shorthand Description Tick time Data nibbles SENT2010-03.0us-6dn-ppc(366.0)-esp-A.1 3µs 6 Y Enhanced A.1 SENT2010-03.0us-6dn-ppc(366.0)-nsp-A.1 3µs 6 Y None A.1 SENT2010-03.0us-6dn-npp-nsp-A.1 3µs 6 N None A.1 1..12 6 Y/N En/None A.1 SENT2010-##-#us-#dn-###()-###-A.1 Pause Pulse Serial message Data format Table 36 - A.1 Dual Throttle Position Sensor Shorthand Examples Second fast channel configuration: SENT_FAST_CHANNEL CH2 configuration 0 Temperature sensor (SP ID 0x23) 1 0xFF9(d4089) - CH1 2 RAM data (RAMPROBE_PTR) 3 0xFFF(d4095) - CH1 Table 37 - A.1 Dual Throttle Position Sensor Fast Channel 2 configuration 11.1.5. Start-up behaviour The circuit will start to send initialisation frames once digital start-up is done but angle measurement initialisation sequence is not yet complete. These initialisation frames content can be chosen by user with the following option: SENT_INIT_GM Initialisation frame value Comments 0 0x000 SAE compliant 1 0xFFF OEM requirement Table 38 - Initialisation Frame Content Definition REVISION 8 - 08 MAR 2019 3901090372 Page 35 of 85 MLX90372 - Triaxis® Position Processor Datasheet 11.1.6. SENT Output Timing configuration SENT_TICK_TIME Tick time configuration Description 0 3 µs Standard SENT 1 0.5 µs Not recommended 2 1 µs Not recommended 3 1.5 µs 4 2.0 µs Not recommended 5 2.5 µs Not recommended 6 6 µs Slow SENT 7 12 µs Not recommended Fast SENT Table 39 - SENT Tick Time Configuration SENT_SEL_SR_FALL(37) Fall time (Tfall) SENT_SEL_SR_RISE(37) Rise Time (Trise) 0 No slew rate control 0 No slew rate control 1 0.7 µs 1 0.9 µs 2 1.2 µs 2 1.6 µs 3 1.9 µs (ACC) 2.4 µs (ACE/ADE) 3 3.0 µs 4 4.8 µs 4 6.2 µs 5 9.6 µs 5 12 µs 6 19 µs 6 24 µs 7 24 µs 7 30 µs Table 40 - SENT Rise and Fall Times Configuration 3.8V 1.1V Tfall Trise SENT_SEL_SR_FALL SENT_SEL_SR_RISE fig. 15 - SENT Rise and Fall Times configuration 37 Due to output filtering, fast edges on the MLX90372 ADE version cannot be achieved. Use default programmed values. REVISION 8 - 08 MAR 2019 3901090372 Page 36 of 85 MLX90372 - Triaxis® Position Processor Datasheet NIBBLE_PULSE_CONFIG High/low time configuration 2 Fixed low time (5 ticks) 3 Fixed high time (6 ticks)(38) Table 41 - SENT Nibble configuration (high/low times) 11.1.7. Serial message channel (slow channel) Serial data is transmitted serial in bit number 3 and 2 of the status and communication nibble. A serial message frame stretches over 18 consecutive SENT data messages from the transmitter. All 18 frames must be successfully received (no errors, calibration pulse variation, data nibble CRC error, etc.) for the serial value to be received. Enhanced format with 12-bits data and 8-bits message ID is used (SAE J2716 APR2016 5.2.4.2, fig. 5.2.4.22). According to the standard, SM[0] contains a 6bits CRC followed by a 12-bits data. Message content is defined by a 8-bit message ID transmitted in the SM[1] channel. Correspondence between ID and message content is defined in the tables below (Table 42, Table 43 and Table 44). SM [1:0] S [1:0] Status Nibble = Ch 1 [11:8] 2 bit serial message 2 bit status fig. 16 - SENT Status Nibble and Serial Message By default, the short sequence consisting of a cycle of 24 data is transmitted (Table 42). An extended sequence can be used through configuration of SENT_SLOW_EXTENDED (Table 43). Additionally, the norm of the B field detected by the sensor can be returned at the end of the sequence by setting SENT_SLOW_BFIELD (Table 44) # 8bit ID Item Source data 1 0x01 Diagnostic error code Current status code from RAM 2 0x06 SENT standard revision SENT_REV from NVRAM 3 0x01 Diagnostic error code Current status code from RAM 4 0x05 Manufacturer code SENT_MAN_CODE from NVRAM 5 0x01 Diagnostic error code Current status code from RAM When using fixed high time in normal SENT mode, Melexis recommends lowering SENT_SEL_SR_RISE to 3 or setting ABE_OUT_MODE to 2 to two to avoid potential timing degradation on short nibbles. 38 REVISION 8 - 08 MAR 2019 3901090372 Page 37 of 85 MLX90372 - Triaxis® Position Processor Datasheet # 8bit ID Item Source data 6 0x03 Channel 1 / 2 Sensor type SENT_SENSOR_TYPE from NVRAM 7 0x01 Diagnostic error code Current status code from RAM 8 0x07 Fast channel 1: X1 SENT_CHANNEL_X1 from NVRAM 9 0x01 Diagnostic error code Current status code from RAM 10 0x08 Fast channel 1: X2 SENT_CHANNEL_X2 from NVRAM 11 0x01 Diagnostic error code Current status code from RAM 12 0x09 Fast channel 1: Y1 SENT_CHANNEL_Y1 from NVRAM 13 0x01 Diagnostic error code Current status code from RAM 14 0x0A Fast channel 1: Y2 SENT_CHANNEL_Y2 from NVRAM 15 0x01 Diagnostic error code Current status code from RAM 16 0x23 (Internal) temperature Current temperature from RAM 17 0x01 Diagnostic error code Current status code from RAM 18 0x29 Sensor ID #1 SENT_SENSOR_ID1 from NVRAM 19 0x01 Diagnostic error code Current status code from RAM 20 0x2A Sensor ID #2 SENT_SENSOR_ID2 from NVRAM 21 0x01 Diagnostic error code Current status code from RAM 22 0x2B Sensor ID #3 SENT_SENSOR_ID3 from NVRAM 23 0x01 Diagnostic error code Current status code from RAM 24 0x2C Sensor ID #4 SENT_SENSOR_ID4 from NVRAM Table 42 - SENT Slow Channel Standard Data Sequence # 8bit ID Item Source data 25 0x01 Diagnostic error code Current status code from RAM 26 0x90 OEM Code #1 SENT_OEM_CODE1 from NVRAM 27 0x01 Diagnostic error code Current status code from RAM 28 0x91 OEM Code #2 SENT_OEM_CODE2 from NVRAM 29 0x01 Diagnostic error code Current status code from RAM 30 0x92 OEM Code #3 SENT_OEM_CODE3 from NVRAM 31 0x01 Diagnostic error code Current status code from RAM 32 0x93 OEM Code #4 SENT_OEM_CODE4 from NVRAM 33 0x01 Diagnostic error code Current status code from RAM 34 0x94 OEM Code #5 SENT_OEM_CODE5 from NVRAM 35 0x01 Diagnostic error code Current status code from RAM 36 0x95 OEM Code #6 SENT_OEM_CODE6 from NVRAM REVISION 8 - 08 MAR 2019 3901090372 Page 38 of 85 MLX90372 - Triaxis® Position Processor Datasheet # 8bit ID Item Source data 37 0x01 Diagnostic error code Current status code from RAM 38 0x96 OEM Code #7 SENT_OEM_CODE7 from NVRAM 39 0x01 Diagnostic error code Current status code from RAM 40 0x97 OEM Code #8 SENT_OEM_CODE8 from NVRAM Table 43 - SENT Slow Channel Extended Data Sequence # 8bit ID Item source data 25 0x80 Field Strength Bfield_norm from RAM (standard sequence) 41 0x80 Field Strength Bfield_norm from RAM (extended sequence) Table 44 - SENT Slow Channel Magnetic Field Norm ID and position For Field Strength encoding, see chapter 8, Magnetic Field Specifications, under the application corresponding section. 11.1.8. Serial Message Error Code The list of error and status messages transmitted in the 12-bit Serial Message data field when Serial Message 8-bit ID is 0x01, is given in the Table 45. The error is one-hot encoded and therefore each bit is linked to one or several monitor. Only the first error detected is reported and serial message error code will not be updated until all the errors have disappeared. This mechanism ensures only one error at a time takes control of the error debouncing counter (see 13.5.2). The MSB acts as an error Flag when SENT_DIAG_STRICT is set. This bit will be high only when an error is present. For compatibility with previous Triaxis®, this bit can be kept high even if no error is present (SENT_DIAG_STRICT = 0). Bit Nb 12 Bit Data (hex) Diagnostic Comments - 0x000 / 0x800 No error Programmable (SENT_DIAG_STRICT, see Table 49, no 138) 0 0x801 GainOOS Gain out of spec (see 13.3.2, GAIN_MIN, GAIN_MAX) 1 0x802 FieldTooLow Fieldstrength is below defined low threshold (see Table 49) 2 0x804 FieldTooHigh Fieldstrength is above defined high threshold (see Table 49) REVISION 8 - 08 MAR 2019 3901090372 Page 39 of 85 MLX90372 - Triaxis® Position Processor Datasheet Bit Nb 12 Bit Data (hex) Diagnostic Comments 3 0x808 ADCclip ADC is saturated, either low or high 4 0x810 ADC_test ADC made wrong conversion 5 0x820 Analog Supply Monitors Detects VDDA (VDEC) over and under voltage or VDD under voltage 6 0x840 Digital Supply Monitors Detects VDDD (1.8V internal digital supply) overvoltage 7 0x880 RoughOffset Hall Element offset monitor 8 0x900 Over/Under Temp Temperature sensor monitor (see 13.5.3) 9 0xA00 HE_Bias / Analog Front End Hall Element biasing issue / Analog front end self-test ( 39) 10 0xC00 Suply Bias Current Current biasing system monitor Extra Error Flag set to one if any error present (only when SENT_DIAG_STRICT = 1). Otherwise, always high. 11 0x800 Table 45 - SENT Serial Message Error Code 11.1.9. SENT configuration shorthand definition Shorthand description SENT SAE J2716 Rev Clock Tick length [µs] Number of data Nibbles 39 Format Req 90372 programmable setting SENT xxxx 2007 2008 2010 2016 CRC_2007 0 > 2007 1 2007 0.5 5 V) 0 1 156 Add delay to enter PTC mode (MT7V) 0 1 Magnet Relative sensitivity at temperature Tx. This parameter is mainly used in Linear Hall Mode. It is advised to keep defaults for other modes. 255 8 SENSOR FRONT-END MAGNET_SREL_T[1..7] 179, 8..13 GAINMIN 14 Low threshold for virtual gain 01 8 GAINMAX 15 High threshold for virtual gain 63 8 GAINSATURATION 26 Gain Saturates on GAINMIX and GAINMAX 0 1 Mapping fields for output angle SENSING_MODE 18 Rotary stray field Immune -- order code 100/500 0 Linear position stray field Immune -- order code 200 4 Linear position / Angular Rotary -- order code 300 DSP_NB_CONV(40) 19 Number of phase spinning within ADC sequence 0=4 phase spinning 3 1-3 0(40) 2 DSP - FILTERING FILTER 21 Filter mode selection 1 2 HYST 16 Hysteresis threshold for EMA filter 0 8 DENOISING_FILTER_ALPHA_SEL 79 Select the alpha parameter of the EMA (IIR) filter 0 2 DSP – ANGLE MAPPING FUNCTIONS CW 20 Set rotation to clockwise 0 1 DP 27 Discontinuity point 0 16 WORK_RANGE_GAIN 217 Re-scaling before the piece-wise linearization step 16 8 WORKING_RANGE 23 0 3 4POINTS 22 0 1 DSP_LNR_RESX2 78 0 1 1 1 17, 32pts - Output angle range (= limited selection of WORK_RANGE_GAIN) Select LNR method 4 pts Enable a double resolution LNR method 0: 4-points or 16-segments 1: 8-points or 32-segments GAIN_ANCHOR_MID 40 180 re-scaling before the piece-wise linearization step Changing default value could impact the safety metrics. Default value shall be used. REVISION 8 - 08 MAR 2019 3901090372 Page 43 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter PSF value Description Default Values Standard #bits 29,35 LNRS0, LNRAS.. LNRDS 41,48, 4pts –Slope for reference points A,B,C,D N/A 16 57 LNRAX, LNRBX.. LNRDX 31,37, 43,51 4pts - X Coordinate for reference points A,B,C,D N/A 16 LNRAY, LNRBY.. LNRDY 33,39, 45,54 4pts - Y Coordinate for reference points A,B,C,D N/A 16 LNRX0..X7 46..65 8 pts - X coordinate point 0..7 N/A 16 LNRY0..Y16 28..69 17 pts - Y coordinate point 0..16 1-4088 16 LNR_DELTA_Y01..Y32 182.. 213 Delta Y for 32-segment linearization N/A 8 LNR_DELTA_Y_EXPAND_LOG2 216 Adjust the span of NV_LNR_DELTA_Yn 0 2 1 1 Enables the output scaling function (x2) USEROPTION_SCALING 24 0 = [0..100%] 1 = [-50..150%] CLAMPLOW 71 Low clamping value of angle data 1 12 CLAMPHIGH 72 High clamping value of angle data 4088 12 OUTSLOPE_SEL(41) 246 Select temperature-dependent offset (see 13.2.10) 0 2 OUTSLOPE_COLD(41) 253 Slope coefficient at cold of the programmable temperature-dependent offset (signed value) 0 8 OUTSLOPE_HOT(41) 254 Slope coefficient at Hot of the programmable temperature-dependent offset (signed value) 0 8 8(40) 8 DIAGNOSTICS DIAG_TEMP_THR_LOW(40) 84 Temperature threshold for under-temperature diagnostic DIAG_TEMP_THR_HIGH(40) 85 Temperature threshold for over-temperature diagnostic 136(40) 8 DIAG_FIELDTOOLOWTHRES 86 Field limit under which a fault is reported. On revision ACC, need to be programmed by user to be active. Each LSB of this threshold corresponds to 4 LSB of the field strength. ( 42) 8 DIAG_FIELDTOOHIGHTHRES 87 Field limit over which a fault is reported. Each LSB of this threshold corresponds to 4 LSB of the field strength. 255 8 PWM WEAKMAGTHRESH 88 Weak Magnet threshold Byte (PWM only) 0 8 DIAGDEBOUNCE_STEPDOWN 90 Diagnostic debouncing stepdown time 1 4 DIAGDEBOUNCE_STEPUP 91 Diagnostic debouncing step-up time 2 4 DIAGDEBOUNCE_THRESH 93 Diagnostic debouncing threshold 2 6 41 Only available on IC revisions ACE and ADE 42 Default value depends on application and IC revision. See chapter 8 tables for more information. REVISION 8 - 08 MAR 2019 3901090372 Page 44 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter PSF value Description Default Values Standard #bits DIAG_EN(40) 94 Diagnostics global enable. Do not modify! (see 14.2 Safety Mechanisms) COLD_SAFE_STARTUP_EN 95 OUT_DIAG_HIZ_TIME 161 1(40) 1 Normal (0) or full safe (1) start-up after power-on reset (see 7.3.1) 0 1 Duration of output High-Z after transient digital fault, do not modify! - 3 2 2 1 1 2 2 OUTPUT CONFIGURATION Select digital output communication mode PROTOCOL TWO_ANGLES_FRAME 100 125 0 = SENT without pause pulse 1 = PWM 2 = SENT with pause (default) Enable 2 angle measurements SENT period w/ pause pulse. ! Has impact on the analog diagnostics DCT (see Table 12 - General Timing Specifications) SENT nibble high/low-time configuration NIBBLE_PULSE_CONFIG 220 2 = Fixed 5 ticks low 3 = Fixed 6 ticks high T_FRAME 134 SENT Frame Tick Count / PWM period (4µs/LSB). ! Has impact on the analog diagnostics DCT (see Table 12 General Timing Specifications) 320( 43) 12 T_SYNC_DELAY(40) 137 SENT - ADC synchronization delay 69(43) 12 0 2 Output mode in normal mode 00: SENT mode, digital push-pull ABE_OUT_MODE 157 01: SENT mode, open-drain 10: PWM mode, digital fast push-pull 11: PWM open-drain, increased short circuit current SENT_SEL_SR_FALL 530 SENT slope Fall time configuration (see Table 40) 4 3 SENT_SEL_SR_RISE 531 SENT slope Rise time configuration (see Table 40) 4 3 ABE_OUT_CFG 159 Output pin configuration, do not modify! 6 2 OUT_ALWAYS_HIGHZ 105 Forces the PWM second output (TEST pin) in high-Z mode 0 1 0 1 N/A 2 PWM PROTOCOL OPTIONS PWM_POL 102 Invert the PWM polarity Error message within PWM frame 0x0: PWM - config 2 (PWM signal in fault band) PWM_REPORT_MODE_ANA 104 0x1: PWM - config 1 (HiZ) 0x2: Output = config 3.a (0 constant) 0x3: Output = config 3.b (1 constant) Default value is valid for ACE/ADE. ACC chip revision comes with T_FRAME=366 and T_SYNC_DELAY=21 as default value. Both T_FRAME and T_SYNC_DELAY have impact on safety metrics and shall follow Melexis programming recommendations. 43 REVISION 8 - 08 MAR 2019 3901090372 Page 45 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter PSF value Description Default Values Standard #bits PWM DC_FAULT 107 PWM Duty Cycle in case of Fault 4 8 PWM DC_ FIELDTOOLOW 108 PWM Duty Cycle in case of Field Strength Too Low 10 8 PWM DC_ WEAKMAG 109 PWM Duty Cycle in case of Weak Magnet 6 8 SENT PROTOCOL OPTIONS STATUS_IN_CRC 111 Add first nibble in SENT CRC calculation 0 1 EN_FAST_CH2 113 Enable serial message DATA nibbles [6:4] 1 1 SENT_CH1_SRC_SEL(40) 114 0(40) 1 N/A 16 Selection of the SENT channel 1 source: 0: Angle 1: RAM data at addr SENT_CH2_PTR RAMPROBE_PTR 116 Data to be transmitted in SENT channel 2 SENT_MAN_CODE 118 Serial data message Manufacturer code 6 12 SENT_REV 119 Serial data message SENT rev 4 12 SENT_SENSOR_TYPE 121 Serial data message SENSOR_TYPE 0x050 12 SENT_TICK_TIME (40) 123 Sent tick time 0(40) 3 SENT_SS 124 Enable Single Secure sensor format A.3 1 1 SENT_SLOW_EXTENDED 126 Enable enhanced serial message ID OEM code 25-40 0 1 SENT_FAST_CHANNEL_2 128 Configuration of SENT fast channel 2 when NV_SENT_SS=0 2 2 SENT_LEGACY_CRC 129 Enable SENT2007 CRC calculation 0 1 SENT_SLOW_BFIELD 130 Enable enhanced serial message ID 80 0 1 0 2 Error message within SENT frame in diagnostic mode: 0x0: SENT - Status bit S0 is set SENT_REPORT_MODE_ANA 131 0x1: SENT - Status bit S0 is set and data = FF9 + DIAG_FAULT_CODE (FFF by default) 0x2: SENT - Status bit S0 is set and the redundant nibble is inverted DIAG_FAULT_CODE(41) 645 Defines the fault code when SENT_REPORT_MODE_ANA=1 6 3 SENT_DIAG_STRICT 138 Enhanced serial error reporting option: Disable Bit 11 when no error is present. 1 1 SENT_CHANNEL_X1 139 Serial data message X1 0 12 SENT_CHANNEL_X2 140 Serial data message X2 0 12 SENT_CHANNEL_Y1 141 Serial data message Y1 0 12 SENT_CHANNEL_Y2 142 Serial data message Y2 0 12 SENT_SENSOR_ID1.4 143.. 146 Serial data message sensor ID1.. ID4 0 12 SENT_OEM_CODE1..8 147.. 154 Serial data message OEM code 1..8 0 12 REVISION 8 - 08 MAR 2019 3901090372 Page 46 of 85 MLX90372 - Triaxis® Position Processor Datasheet PSF value Parameter Default Values Description Standard #bits SENT serial configuration SERIAL_CONFIG 221 1 = No serial protocol 3 = Enhanced serial protocol 3 2 0 1 Do not use 0, 1 or 2 to retain safety goal. SENT initialization , SENT_INIT_GM 222 0 = transmitting 0 as initialization data 1 = transmitting 4095 as initialization data Table 49 - MLX90372 End-User Programmable Items Table Performances described in this document are only achieved by adequate programming of the device. To ensure desired functionality, Melexis recommends following its programming guidelines and contacting its technical or application services. Melexis does not guarantee the safety of the element if the configuration of the device is done outside of the above defined values and recommendations. 12.1. End User Identification Items Parameter PSF value Default Values Description Standard #bits USER_ID[0..5] USER_ID2 1..6 3 User Id. References - Product Number for 90372ACC 4 Product Number for 90372ACE 7 Product Number for 90372ADE 8 8 8 NVRAM default user content revision USER_ID3 4 90372 ACC 8 90372 ACE/ADE 9 8 0 : Rotary Stray Field Robust, low field version (-1xx ordering code) IMC_VERSION 692 1 : Angular / Linear position legacy (-3xx ordering code) 2 : Linear Stray Field Robust (-2xx ordering code) - 7 - 16 - 16 - 16 4 : Rotary Stray Field Robust, high field version (-5xx ordering code) MLX_ID0 677 MLX_ID1 680 MLX_ID2 683 X-Y position on the wafer (8 bit each) Wafer ID (5 bits) Lot ID [10..0] Lot ID [16..11] Fab ID (4 bits) Test Database ID (6 bits) Table 50 - Melexis and Customer ID fields description User identification numbers (48 bits, 6 bytes) are freely usable by customers for traceability purpose. Other IDs are read only. REVISION 8 - 08 MAR 2019 3901090372 Page 47 of 85 MLX90372 - Triaxis® Position Processor Datasheet 13. Description of End-User Programmable Items 13.1. Output modes 13.1.1. OUT mode (ABE_OUT_MODE) Defines the Output Stage mode (SENT or PWM, driver mode) in application. ABE_OUT_MODE Type Description Comments 0 SENT Push-Pull 1 SENT Open Drain Requires a pull-up resistor 2 PWM Push-Pull In PWM mode, edge rising time is similar to falling time. 3 PWM Open Drain Requires a pull-up resistor, increased short circuit current (Table 11) Table 51 - Output Mode Selection 13.1.2. Digital OUT protocol (PROTOCOL) Selection of the measurement timing mode and the corresponding output protocol PROTOCOL Type Descriptions 0 SENT Continuous asynchronous angle acquisition, SENT without pause pulse 1 PWM Continuous asynchronous angle acquisition, PWM 2 SENT Continuous synchronous angle acquisition, SENT with pause Table 52 - Protocol Selection 13.1.3. Serial Channel Configuration - Status and Communication Nibble SERIAL_CONFIG Type Descriptions 0 - Status and Communication nibble is not present. This configuration is not compliant with SENT. Do Not Use! 1 nsp Status nibble will report an error. Data sent along the serial channel is taken from RAM. 2 ssp This short serial protocol is not compliant with SENT. Do Not Use! 3 esp Status nibble reports errors and serial channel reports sequence defined in 11.1.7 Table 53 - SENT Serial channel Configuration REVISION 8 - 08 MAR 2019 3901090372 Page 48 of 85 MLX90372 - Triaxis® Position Processor Datasheet 13.1.4. PWM Output Mode If PWM output mode is selected, the output signal is a digital signal with Pulse Width Modulation (PWM). The PWM polarity is selected by the PWMPOL parameter:   PWM_POL = 0 for a low level at 100% PWM_POL = 1 for a high level at 100% The PWM frequency is selected in the range [100, 2000] Hz by the T_FRAME parameter (12bits), defining the period time in the range [0.5; 10] ms. Minimum allowed value for T_FRAME is therefore 125 (0x7d).  𝑇𝑇𝑃𝑃𝑃𝑃𝑃𝑃 = 4 × 𝑇𝑇_𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 106 PWM period is derived from the main clock and subject to the same tolerances (see ΔFck). 13.2. Output Transfer Characteristic There are 4 different possibilities to define the transfer function (LNR) as specified in the Table 54.     With 4 arbitrary points (defined by X and Y coordinates) and 5 slopes With 8 arbitrary points (defined by X and Y coordinates) With 17 equidistant points for which only the Y coordinates are defined With 32 equidistant points for which only offset of Y compared to the average value is defined Output Transfer Characteristic 4POINTS DSP_LNR_RESX2 4 Arbitrary Points 1 0 8 Arbitrary Points 1 1 17 Equidistant Points 0 0 32 Equidistant Points 0 1 Table 54 - Output Transfer Characteristic Selection Table Parameter LNR type Value CW All DP All 0 … 359.9999 deg 4 pts, X coordinates 0 … 359.9999 deg 0  counter clockwise 1  clockwise Unit LSB LNRAX LNRBX LNRCX LNRDX REVISION 8 - 08 MAR 2019 3901090372 Page 49 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter LNR type Value Unit LNRAY LNRBY 0 … 100 4 pts, Y coordinates LNRCY -50 … + 150 % LNRDY LNRS0 LNRAS LNRBS 4 pts, slopes -17 … 0 … 17 %/deg 8 pts, X coordinates 0 … 359.9999 deg LNRCS LNRDS LNRX0 .. LNRX7 LNRY0 … LNRY7 0..100 8,17 pts, Y coordinates -50 … + 150 … % LNRY16 +/-3.125% LNR_DELTAY01 … +/-6.25% 32 pts offsets +/-12.5% LNR_DELTAY32 % +/-25% 65.5 … 360 WORKING RANGE 44 17/32 pts CLAMP_LOW All 0 … 100 % CLAMP_HIGH All 0 … 100 % 32.75 … 180 deg Table 55 - Output linearization and clamping parameters 13.2.1. Enable scaling Parameter This parameter enables to double the scale of Y coordinates linearisation parameters from [0 .. 100]% to [-50 .. 150]% according to the following table (Table 56). This is valid for all linearisation schemes except the 32 points. USEROPTION_SCALING LNR_Y min value LNR_Y max value 0 0% 100% 1 -50% 150% Table 56 - USEROPTION_SCALING parameter 44 See 13.2.8 for details REVISION 8 - 08 MAR 2019 3901090372 Page 50 of 85 MLX90372 - Triaxis® Position Processor Datasheet 13.2.2. CW (Clockwise) Parameter The CW parameter defines the magnet rotation direction.  0 or counter clockwise is the defined by the 1-4-5-8 pin order direction for the SOIC-8 package and 1-8-9-16 pin order direction for the TSSOP-16 package.  1 or clockwise is defined by the reverse direction: 8-5-4-1 pin order direction for the SOIC-8 and 16-9-8-1 pin order direction for the TSSOP-16 package. Refer to the drawing in the sensitive spot positioning section (18.4, 18.8, 18.16). 13.2.3. Discontinuity Point (or Zero Degree Point) The Discontinuity Point defines the 0° point on the circle. The discontinuity point places the origin at any location of the trigonometric circle. The DP is used as reference for all the angular measurements. 0 Deg. 360 Deg. fig. 18 - Discontinuity Point Positioning 13.2.4. 4-Pts LNR Parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90372 four points transfer function from the digital angle value to the digital output is described in the following figure (fig. 19). Seven segments can be programmed but the clamping levels are necessarily flat. Two, three, or even six calibration points are then available, reducing the overall non-linearity of the IC by almost an order of magnitude each time. Three or six calibration point will be preferred by customers looking for excellent non-linearity figures. Two-point calibrations will be preferred by customers looking for a cheaper calibration set-up and shorter calibration time. REVISION 8 - 08 MAR 2019 3901090372 Page 51 of 85 MLX90372 - Triaxis® Position Processor Datasheet 100% CLAMPHIGH D Output [%] LNR_D_Y C LNR_C_Y B LNR_B_Y Slope LNR_C_S Slope LNR_B_S Slope LNR_A_S A LNR_A_Y Slope LNR_D_S Slope LNR_S0 CLAMPLOW DP(0,0) LNR_A_X LNR_B_X LNR_C_X LNR_D_X Angle [°] 360 fig. 19 - 4pts Linearisation Parameters Description 13.2.5. 8-Pts LNR Parameters The 8-Pts LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90372 eight points transfer function from the digital angle value to the output voltage is described in the following figure (fig. 20). Eight calibration points [LNR_X0...7, LNR_Y0...7] together with 2 fixed points at the extremity of the range ([0°, 0%] ; [360°, 100%]) divides the transfer curve into 9 segments. Each segment is defined by 2 points and the values in between is calculated by linear interpolation. 100% CLAMPHIGH LNR_Y7 Output [%] ... 7 4 3 LNR_Y1 LNR_Y0 0 1 5 6 2 CLAMPLOW DP(0,0) LNR_X0 LNR_X1 ... Angle [°] ... LNR_X7 360 fig. 20 - 8pts Linearisation Parameters Description REVISION 8 - 08 MAR 2019 3901090372 Page 52 of 85 MLX90372 - Triaxis® Position Processor Datasheet 13.2.6. 17-Pts LNR Parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90372 seventeen points transfer function from the digital angle value to the output voltage is described in the following figure (fig. 21). In the 17-Pts mode, the output transfer characteristic is Piece-Wise-Linear (PWL). LNR_Y16 16 100 LNR_Y15 LNR_Y14 15 14 Output [%] ... 13 12 11 10 LNR_Y9 LNR_Y8 50 LNR_Y7 8 7 Δx = w/16, fixed delta angle, with 6 ... 5 w= 4 LNR_Y3 LNR_Y2 LNR_Y1 DP(0,0) LNR_Y0 1 180- 2 9 16·360° WORK_RANGE_GAIN 3 w 2 180 0 Angle [°] 180+ w 2 fig. 21 - 17pts Linearisation Parameters Description All the Y-coordinates can be programmed from -50% up to +150% to allow clamping in the middle of one segment (like on the figure), but the output value is limited to CLAMPLOW and CLAMPHIGH values. Between two consecutive points, the output characteristic is interpolated. 13.2.7. 32-Pts LNR parameters The LNR parameters, together with the clamping values, fully define the relation (the transfer function) between the digital angle and the output signal. The shape of the MLX90372 thirty-two points transfer function from the digital angle value to the output voltage is described in the following figure (fig. 22). In the 32-Pts mode, the output transfer characteristic is Piece-Wise-Linear (PWL). The points are spread evenly across the working range (see. 13.2.8 and 13.2.9 for working range selection). The Y-coordinates can be offset from the ideal characteristic within an adjustable range defined by LNR_DELTA_Y_EXPAND_LOG2. The available values are summarized in Table 57. All LNR_delta_Y## parameters are encoded in a fractional signed 8-bit value. REVISION 8 - 08 MAR 2019 3901090372 Page 53 of 85 MLX90372 - Triaxis® Position Processor Datasheet LNR_Delta_Y32 100 CLAMPHIGH Output [%] LNR_deltaY : Programmable delta correction vs. Ideal slope (%) The adjustable range can be selected from [+/-3.125%, +/-6.25%, +/-12.5%, +/-25%] Adjustable range Δx fixed delta angle (w/32) Prog. Slope : WORK_RANGE_GAIN LNR_Delta_Y16 LNR_Delta_Y15 50 Anchor point w= CLAMPLOW DP(0,0) Δx LNR_Delta_Y01 180- 16·360° WORK_RANGE_GAIN w 2 180 Angle [°] 180+ w 2 fig. 22 - 32pts Linearisation Parameters Description LNR_DELTA_Y_EXP AND_LOG2 Adjustable Range Correction resolution 0 ±3.125% 0.024% 1 ±6.25% 0.049% 2 ±12.5% 0.098% 3 ±25% 0.20% Table 57 - LRN_DELTA_Y_EXPAND_LOG2 values and correction resolution 13.2.8. WORKING_RANGE Parameter for Angle Range Selection The parameter WORKING_RANGE determines the input range on which the 16 or 32 segments are uniformly spread. This parameter is provided for compatibility with former versions of MLX Triaxis sensors. For full featured working range selection, see 13.2.9. For WORKING_RANGE parameter (W), following table applies. W Range Δx 17pts Δx 32pts W Range Δx 17pts Δx 32pts 0 180.0° 11.3° 5.6° 8 90.0° 5.6° 2.8° 1 160.0° 10.0° 5.0° 9 72.0° 4.5° 2.3° 2 144.0° 9.0° 4.5° 10 60.0° 3.8° 1.9° 3 131° 8.2° 4.1° 11 51.45° 3.2° 1.6° 4 120.0° 7.5° 3.8° 12 45.0° 2.8° 1.4° 5 221.5° 6.9° 3.5° 13 40.0° 2.5° 1.3° 6 103° 6.4° 3.2° 14 36.0° 2.3° 1.1° 7 96° 6.0° 3.0° 15 32.75° 2.0° 1.0° Table 58 - Working range for 180° periodicity (order code -100, -500) REVISION 8 - 08 MAR 2019 3901090372 Page 54 of 85 MLX90372 - Triaxis® Position Processor Datasheet W Range Δx 17pts Δx 32pts W Range Δx 17pts Δx 32pts 0 360.0° 22.5° 11.3° 8 180.0° 11.3° 5.6° 1 320.0° 20.0° 10.0° 9 144.0° 9.0° 4.5° 2 288.0° 18.0° 9.0° 10 120.0° 7.5° 3.8° 3 261.8° 16.4° 8.2° 11 102.9° 6.4° 3.2° 4 240.0° 15.0° 7.5° 12 90.0° 5.6° 2.8° 5 221.5° 13.8° 6.9° 13 80.0° 5.0° 2.5° 6 205.7° 12.9° 6.4° 14 72.0° 4.5° 2.3° 7 192.0° 12.0° 6.0° 15 65.5° 4.1° 2.0° Table 59 - Working range for 360° periodicity (order code -200, -300) Outside of the selected range, the output will remain at clamping levels. 13.2.9. WORK_RANGE_GAIN Parameter for Angle Range Selection Alternatively, the range for the angle can be selected using the WORK_RANGE_GAIN parameter, which applies a fixed gain to the transfer characteristic. When using WORK_RANGE_GAIN parameter, the anchor point is set in the middle of the full angular range, MaxRange/2, and the valid range is set symmetrically around this value based on the parameter value. WORK_RANGE_GAIN is coded on 8 bits where the 4 MSB defines the integer part and the 4 LSB the fractional part. Therefore, the following equation applies to define the angle range w: w= 16 ∗ MaxRange WORK_RANGE_GAIN MaxRange depends on the application. It is 360° for ordering codes -200 and -300 (linear stray-field immune and legacy) and 180° for ordering codes -100 and -500 (rotary stray-field immune). Both minimal and maximal angles are then defined by : 𝜃𝜃𝑚𝑚𝑚𝑚𝑚𝑚 = 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 − 𝑤𝑤 𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 + 𝑤𝑤 ; 𝜃𝜃𝑚𝑚𝑚𝑚𝑚𝑚 = 2 2 where θmin corresponds to the angle yielding 0% output and θmax the angle giving a 100% output. Following tables give some values as example WORK_RANGE _GAIN Zoom Factor Range (w) θmin θmax Δx 17pts Δx 32pts 0x10 1 180° 0° 180° 11.25° 5.63° 0x20 2 90° 45° 135° 5.63° 2.81° 0x40 4 45° 67.5° 112.5° 2.81° 1.41° 0xFF 15.94 11.3° 78.7° 101.3° 0.71° 0.35° Table 60 - Working range defined by WORK_RANGE_GAIN parameter (ordering codes -100, -500) REVISION 8 - 08 MAR 2019 3901090372 Page 55 of 85 MLX90372 - Triaxis® Position Processor Datasheet WORK_RANGE _GAIN Zoom Factor Range (w) θmin θmax Δx 17pts Δx 32pts 0x10 1 360° 0° 360° 22.5° 11.3° 0x20 2 180° 90° 270° 11.3° 5.6° 0x40 4 90° 135° 225° 5.6° 2.8° 0xFF 15.94 22.6° 168.7° 191.3° 1.41° 0.71° Table 61 - Working range defined by WORK_RANGE_GAIN parameter (ordering codes -200, -300) Outside of the working range, the output will remain at clamping levels. 13.2.10. Thermal OUTSLOPE offset correction Two parameters, OUTSLOPEHOT and OUTSLOPECOLD, are used to add a temperature dependent offset. This feature is enabled by the parameter OUTSLOPE_SEL that apply this modification either directly to the angle or after the linearisation function. This thermal offset is only available with the revisions ACE or ADE of the MLX90372. The MLX90372 uses its internal linearized temperature to compute the offset shift as depicted in the figure below (fig. 23) +6.25% (at ΔT=128°C) OUTSLOPEHOT OUTSLOPECOLD -6.25% (at ΔT=128°C) -40 Temperature (°C) 35 160 fig. 23 - Temperature compensated offset The thermal offset can be added or subtracted before the clamping, either to the angle or output. The span of this offset is ±6.25% of the full output scale for a temperature difference of 128°C. The added thermal offset varies with temperature following the equations below. The two thermal coefficients are encoded in signed two’s complement 8bit format (-128..127) and defined separately below 35°C (OUTSLOPECOLD) and above 35°C (OUTSLOPEHOT). OUTSLOPE_SEL 0 1 2 Description No thermal offset correction Thermal offset enabled, applied after angle calculation, i.e. after discontinuity point (𝜃𝜃𝑟𝑟2𝑝𝑝 ) Enabled, applied after output calculation and before clamping (𝜃𝜃𝑜𝑜𝑜𝑜𝑜𝑜 ) Table 62 - Temperature compensated offset selection parameter REVISION 8 - 08 MAR 2019 3901090372 Page 56 of 85 MLX90372 - Triaxis® Position Processor Datasheet If IC internal temperature is higher than 35°C then: 𝜃𝜃𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 = 𝜃𝜃𝑖𝑖𝑖𝑖 (1 − Δ𝑇𝑇 ⋅ OUTSLOPEHOT ) If IC internal temperature is lower than 35°C then: 𝜃𝜃𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 = 𝜃𝜃𝑖𝑖𝑖𝑖 (1 − Δ𝑇𝑇 ⋅ OUTSLOPECOLD) where 𝜃𝜃𝑖𝑖𝑖𝑖 is either 𝜃𝜃𝑟𝑟2𝑝𝑝 or 𝜃𝜃𝑜𝑜𝑜𝑜𝑜𝑜 depending on OUSLOPE_SEL value. 13.2.11. CLAMPING Parameters The clamping levels are two independent values to limit the output voltage range. The CLAMPLOW parameter adjusts the minimum output level. The CLAMPHIGH parameter sets the maximum output. Both parameters have 16 bits of adjustment and are available for all four LNR modes. As output data resolution is limited to 12bits, both in SENT and in PWM, the 4 LSB of this parameter will have no significant effect on the output. The value is encoded in fractional code, from 0% to 100% 13.3. Sensor Front-End Parameter Value SENSING MODE [0..3] GAINMIN [0..63] GAINMAX [0..63] GAINSATURATION [0, 1] Table 63 - Sensing Mode and Front-End Configuration 13.3.1. SENSING MODE The SENSING_MODE parameter defines which sensing mode and fields are used to calculate the angle. The different possibilities are described in the tables below. This 2 bits value selects the first (B1) and second (B2) field components according to the Table 64 content. SENSING_MODE B1 B2 Angular Mode Compatible with 0 X Y Angular Rotary stray-field Immune ordering code -100 1 X Y X-Y Angular Rotary ordering code -300 2 Y Z Y-Z Angular Rotary ordering code -300 3 X Z X-Z Angular Rotary ordering code -300 4 ΔX ΔZ Linear position, stray-field Immune ordering code -200 Table 64 - Sensing Mode Description REVISION 8 - 08 MAR 2019 3901090372 Page 57 of 85 MLX90372 - Triaxis® Position Processor Datasheet 13.3.2. GAINMIN and GAINMAX Parameters GAINMIN and GAINMAX define the thresholds on the gain code outside which the fault “GAIN out of Spec.” is reported (see Table 45, GainOOS). If GAINSATURATION is set, then the virtual gain code is saturated at GAINMIN and GAINMAX, and no Diagnostic fault is set since the saturations applies before the diagnostic is checked. On the MLX90372 ACC the circuit will report a Gain Out of Spec error whenever the maximum gain of 63 is reached, regardless of the GAINMAX value. 13.4. Filtering The MLX90372 includes 2 types of filters:  Exponential moving average (EMA) Filter: programmable by the HYST parameter  Low Pass FIR Filters controlled with the FILTER parameter Parameter Value FILTER 0…2 HYST 0 … 255 Table 65 - Filtering configuration 13.4.1. Exponential Moving Average (IIR) Filter The HYST parameter is a hysteresis threshold to activate / de-activate the exponential moving average filter. The output value of the IC is updated with the applied filter when the digital step is smaller than the programmed HYST parameter value. The output value is updated without applying the filter when the increment is bigger than the hysteresis. The filter reduces therefore the noise but still allows a fast step response for bigger angle changes. The hysteresis must be programmed to a value close to the internal magnetic angle noise level (1LSB = 8 ∙ 360/216). yn = a * xn + (1 − a ) * yn−i xn = Angle yn = Output The filters characteristic is given in the following table (Table 66): DENOISING_FILTER_ALPHA_SEL 0 1 2 3 Coefficients a 0.75 0.5 0.25 0.125 2.4 4.2 Efficiency RMS (dB) Table 66 - IIR Filter characteristics REVISION 8 - 08 MAR 2019 3901090372 Page 58 of 85 MLX90372 - Triaxis® Position Processor Datasheet 13.4.2. FIR Filters The MLX90372 features 2 FIR filter modes controlled with Filter = 1…2. Filter = 0 corresponds to no filtering. The transfer function is described by: yn = j 1 j ∑a i i =0 ∑a x i =0 i n −i This filter characteristic is given in the Table 67. FILTER value 0 1 2 Type Disable Coefficients ai 1 11 1111 Title No filter ExtraLight Light DSP cycles (nb of taps) 1 2 4 Efficiency RMS (dB) 0 3.0 6.0 Finite Impulse Response (FIR) Table 67 - FIR Filter Characteristics 13.5. Programmable Diagnostics Settings 13.5.1. Diagnostics Global Enable DIAG_EN should be kept to its default value (1) to retain all functional safety capabilities of the MLX90372. This feature shall not be disabled. 13.5.2. Diagnostic Debouncer A debouncing algorithm is available for analog diagnostic reporting (see chapter 14, Functional Safety). Enabling this debouncer will however increase the DCT of the device. Therefore, Melexis recommends keeping the debouncing of analog faults off by not modifying below described values (see Table 49 for factory defaults). NVRAM Parameter Description DIAGDEBOUNCE_STEPDOWN Decrement values for debouncer counter DIAGDEBOUNCE_STEPUP Increment value for debouncer counter DIAG_DEBOUNCE_THRESH Threshold for debouncer counter to enter diagnostic mode Table 68 - Diagnostic debouncing parameters Once an analog monitor detects an error, it takes control of the debouncing counter. This counter will be incremented by STEPUP value each time this specific monitor is evaluated, and the error is still present. When the debouncing counter reaches the value defined by DEBOUNCE THRESHOLD, an error is reported on the error channel, and the debouncing counter stays clamped to this DEBOUNCE THRESHOLD value REVISION 8 - 08 MAR 2019 3901090372 Page 59 of 85 MLX90372 - Triaxis® Position Processor Datasheet (see 11.1.8 for SENT error message codes, 13.5.4 for PWM error reporting). Once the error disappears, each time its monitor is evaluated, the debouncing counter is decremented by STEPDOWN value. When the debouncing counter reaches zero, the error disappears from the reporting channel and the debouncing counter is released. To implement proper reporting times, one should refer to the DCT defined in the Table 12. The reporting and recovery time are defined in the table below (valid for THRESH≠0). Parameter Reporting Time Recovery Time Min Max 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 � − 1� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� �� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑥𝑥 � � 𝑦𝑦 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 �� 𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� � + 1� 𝑆𝑆𝑆𝑆𝑆𝑆𝑃𝑃𝐷𝐷𝐷𝐷𝐷𝐷𝑁𝑁 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� 𝐷𝐷𝐷𝐷𝐷𝐷 ∙ �� is the ceiling function of x divided by y Table 69 - Diagnostic Reporting and Recovery times 13.5.3. Over/Under Temperature Diagnostic DIAG_TEMP_THR_HIGH defines the threshold for over temperature detection and is compared to the linearized value of the temperature sensor TLIN. DIAG_TEMP_THR_LOW defines the threshold for under temperature detection and is compared to the linearized value of the temperature sensor TLIN TLIN is encoded using the SENT standard for temperature sensor. One can get the physical temperature of the die using following formula: 𝑇𝑇𝑃𝑃𝑃𝑃𝑃𝑃 [°𝐶𝐶] = 𝑇𝑇𝐿𝐿𝐿𝐿𝐿𝐿 − 73.15 8 DIAG_TEMP_THR_LOW/HIGH are encoded on 8-bit unsigned values with the following relationship towards TLin 𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷_𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇_𝑇𝑇𝑇𝑇𝑇𝑇_(𝐿𝐿𝐿𝐿𝐿𝐿/𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻) = 𝑇𝑇𝐿𝐿𝐿𝐿𝐿𝐿 16 Following table summarizes the characteristics of the linearized temperature sensor and the encoding of the temperature monitor thresholds. Parameter Symbol Min Typ Max Unit TLIN resolution ResTLIN - 0.125 - °C/LSB TLIN refresh rate FS,TLIN - 200 - Hz TLIN linearity error TLinErr -8 - 8 °C from -40 to 160°C TLIN linearity error TLinErr -2 - 6 °C from 35 to 125°C REVISION 8 - 08 MAR 2019 3901090372 Condition Page 60 of 85 MLX90372 - Triaxis® Position Processor Datasheet Parameter Symbol Min Typ Max Unit Condition Low temperature threshold DIAG_TEMP _THR_LOW - 8 - LSB Recommended value, corresponds to -57°C High temperature threshold DIAG_TEMP _THR_HIGH - 136 - LSB Recommended value, corresponds to 199°C High/low temperature threshold resolution ResTthr 2 °C/LSB Table 70 - Linearized Temperature Sensor characteristics 13.5.4. PWM Diagnostic DC_FAULT This parameter defines the duty-cycle that is present on the PWM output in case of diagnostic reporting. WEAKMAGTHRESH This parameter defines the threshold on the field strength which determines the weak magnet condition; when WEAKMAGTHRESH = 0, there is no reporting of weak magnet condition. DC_FIELDTOOLOW This parameter defines the duty-cycle that is output in case of Field Too Low; the Field Too Low Diagnostic is stronger than the Weak Magnet Diagnostic, from 0% till 100 % by steps of (100/256)% DC_WEAK This parameter defines the output duty-cycle in case of Weak Magnet, from 0% till 100% by steps of (100/256)% REVISION 8 - 08 MAR 2019 3901090372 Page 61 of 85 MLX90372 - Triaxis® Position Processor Datasheet 14. Functional Safety 14.1. Safety Manual The safety manual, available upon request, contains the necessary information to integrate the MLX90372 component in a safety related item, as Safety Element Out-of-Context (SEooC). In particular it includes:      The description of the Product Development lifecycle tailored for the Safety Element. An extract of the Technical Safety concept. The description of Assumptions-of-Use (AoU) of the element with respect to its intended use, including:  assumption on the device safe state;  assumptions on fault tolerant time interval and multiple-point faults detection interval;  assumptions on the context, including its external interfaces; The description of safety analysis results at the device level useful for the system integrator; HW architectural metrics and description of dependent failures initiators. The description and the result of the functional safety assessment process; list of confirmation measures and description of the independency level. 14.2. Safety Mechanisms The MLX90372 provides numerous self-diagnostic features (safety mechanisms). Those features increase the robustness of the IC functionality by either preventing the IC to provide an erroneous output signal or reporting the failure according to the SENT protocol definition. Legend ● High coverage ○ Medium coverage ANA : Analog hardware failure reporting, described in the safety manual High-Z : Special reporting, output is set in high impedance mode (no HW fail-safe mode/timeout, no SW safe startup) DIG : Digital hardware failure reporting, described in the safety manual * : Diagnostic Cycle Time (see 7.1 for values) At Startup : HW fault present at time zero is detected before a first frame is transmitted. DIAG_EN : This safety mechanism can be disabled by setting DIAG_EN = 0 (see 12 End-User Programmable Items). This option should not be used in application mode! Table 71 - Self Diagnostic Legend REVISION 8 - 08 MAR 2019 3901090372 Page 62 of 85 MLX90372 - Triaxis® Position Processor Datasheet Category and safety mechanism name Frontend ADC Signal-conditioning (AFE, External Sensor) Diagnostic ● ● Magnetic Signal Conditioning Voltage Test Pattern ● ○ Magnetic Signal Conditioning Rough Offset Clipping check Backend Sup port. Func. Module & Package DCT* ● Reporting mode At startup DIAG EN ANA ○ DCT_Ana ANA ● ○ DCT_Ana ANA NO ● Magnetic Signal Conditioning Gain Monitor ● ○ ● DCT_Ana ANA YES ● Magnetic Signal Conditioning Gain Clamping ● ○ ● DCT_Ana ANA YES Mag. Sig. Cond. Failure control by the chopping technique ● n/a n/a YES External Sensor Sig. Cond. Voltage Valid Range Check ● ● DCT_Ana ANA YES ○(45) External Sensor Sig. Cond. Frequency Valid Range Check ● ● DCT_Ana ANA YES ● ● A/D Converter Test Pattern ● DCT_Ana ANA ADC Conversion errors & Overflow Errors ● DCT_Ana ANA YES ● DCT_Ana ANA YES ● Flux Monitor (Specific to Rotary mode) 45 DSP ● ○ ● ● Digital-circuit Diagnostic ● RAM Parity, 1 bit per 16 bits word, ISO D.2.5.2 ●