KMX61-1021-FR

Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Product Description KMX61 is a 6 Degrees-of-Freedom inertial sensor system that features 14-bit digital outputs accessed through I2C communication. The KMX61 sensor consists of a tri-axial magnetometer plus a tri-axial accelerometer coupled with an ASIC. It is packaged in a 3x3x0.9mm Land Grid Array (LGA) package. The ASIC is realized in standard 0.18um CMOS technology and features flexible user programmable ±2g/±4g/±8g full scale range for the accelerometer. Accelerometer and Magnetometer data can be accumulated in an internal 512 byte FIFO buffer and transmitted to the application processor. Acceleration sensing is based on the principle of a differential capacitance arising from acceleration-induced motion of the sense element, which utilizes common mode cancellation to decrease errors from process variation, temperature, and environmental stress. Capacitance changes are amplified and converted into digital signals which are processed by a dedicated digital signal processing unit. The digital signal processor applies filtering, bias and sensitivity adjustment, as well as temperature compensation. Magnetic sensing is based on the principle of magnetic impedance. The magnetic sensor detects very small magnetic fields by passing an electric pulse through a special electron spin aligned amorphous wire. Due to the high Curie temperature of the wire, the sensor’s thermal performance shows excellent stability. Noise performance is excellent with bias stability over temperature. Bias errors resulting from assembly can be trimmed digitally by the user. These sensors can accept supply voltages between 1.8V and 3.3V, and digital communication voltages between 1.8 and 3.3V. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 1 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Table of Contents PRODUCT DESCRIPTION ....................................................................................................................................................................1 TABLE OF CONTENTS .........................................................................................................................................................................2 FUNCTIONAL DIAGRAM ....................................................................................................................................................................4 PRODUCT SPECIFICATIONS................................................................................................................................................................5 TABLE 1. MAGNETOMETER........................................................................................................................................................................... 5 TABLE 2. ACCELEROMETER ........................................................................................................................................................................... 7 TABLE 3. ELECTRICAL................................................................................................................................................................................... 9 KMX61 TRANSITION TIMING DIAGRAM ....................................................................................................................................................... 10 TABLE 4. TRANSITION TIMING ..................................................................................................................................................................... 10 KMX61 START UP TIME............................................................................................................................................................................ 11 TABLE 5. START UP TIME ........................................................................................................................................................................... 11 2 KMX61 I C TIMING DIAGRAM ................................................................................................................................................................... 12 2 TABLE 6. I C TIMING (FAST MODE) ............................................................................................................................................................. 12 TABLE 7. ENVIRONMENTAL......................................................................................................................................................................... 13 APPLICATION SCHEMATIC ........................................................................................................................................................................... 14 TABLE 8. KMX61 PIN DESCRIPTIONS ........................................................................................................................................................... 14 PACKAGE DIMENSIONS AND ORIENTATION: ................................................................................................................................................... 15 DIMENSIONS............................................................................................................................................................................................ 15 ORIENTATION .......................................................................................................................................................................................... 16 BOARD LAYOUT ........................................................................................................................................................................................ 16 KMX61 DIGITAL INTERFACE ............................................................................................................................................................ 17 2 I C SERIAL INTERFACE................................................................................................................................................................................ 17 2 I C OPERATION ........................................................................................................................................................................................ 18 WRITING TO A KMX61 8-BIT REGISTER ........................................................................................................................................................ 19 READING FROM A KMX61 8-BIT REGISTER.................................................................................................................................................... 19 DATA TRANSFER SEQUENCES ...................................................................................................................................................................... 20 HS-MODE ............................................................................................................................................................................................... 21 POWER MODES ............................................................................................................................................................................... 22 OFF MODE .............................................................................................................................................................................................. 22 INITIAL STARTUP ....................................................................................................................................................................................... 22 STAND-BY MODE ...................................................................................................................................................................................... 23 SLEEP MODE ............................................................................................................................................................................................ 23 ENABLE MODE ......................................................................................................................................................................................... 23 KMX61 EMBEDDED REGISTERS ....................................................................................................................................................... 24 MAGNETOMETER OUTPUTS ........................................................................................................................................................................ 26 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 2 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 ACCELEROMETER OUTPUTS ........................................................................................................................................................................ 27 TEMPERATURE OUTPUT ............................................................................................................................................................................. 28 REGISTER DESCRIPTIONS................................................................................................................................................................. 29 WHO_AM_I .......................................................................................................................................................................................... 29 INS1...................................................................................................................................................................................................... 29 INS2...................................................................................................................................................................................................... 30 STATUS_REG ........................................................................................................................................................................................ 30 ACCEL_OUT .......................................................................................................................................................................................... 30 TEMP_OUT........................................................................................................................................................................................... 31 MAG_OUT ............................................................................................................................................................................................ 31 ACCEL_OUT_HPF ................................................................................................................................................................................. 31 SN......................................................................................................................................................................................................... 32 INL ........................................................................................................................................................................................................ 32 STBY_REG............................................................................................................................................................................................. 32 CTRL_REG1 .......................................................................................................................................................................................... 33 CTRL_REG2 .......................................................................................................................................................................................... 34 ODCNTL ................................................................................................................................................................................................ 34 INC1 ..................................................................................................................................................................................................... 36 INC2 ..................................................................................................................................................................................................... 36 INC3 ..................................................................................................................................................................................................... 37 COTR (STR) ........................................................................................................................................................................................... 38 WUF_THRESH (ATH) ............................................................................................................................................................................ 38 WUF_TIMER ......................................................................................................................................................................................... 38 BTS_THRESH (BTH)............................................................................................................................................................................... 38 BTS_TIMER ........................................................................................................................................................................................... 38 SELF_TEST ............................................................................................................................................................................................ 39 BUF_THRESH ........................................................................................................................................................................................ 39 BUF_CTRL1........................................................................................................................................................................................... 40 BUF_CTRL2........................................................................................................................................................................................... 41 BUF_CLEAR .......................................................................................................................................................................................... 41 BUF_STATUS_REG................................................................................................................................................................................ 41 BUF_STATUS ........................................................................................................................................................................................ 41 BUF_READ ............................................................................................................................................................................................ 42 SAMPLE BUFFER FEATURE DESCRIPTION ........................................................................................................................................ 43 FIFO Mode ........................................................................................................................................................................................ 43 Stream Mode.................................................................................................................................................................................... 43 Trigger Mode .................................................................................................................................................................................... 44 FILO Mode ........................................................................................................................................................................................ 44 Buffer Operation .............................................................................................................................................................................. 44 REVISION HISTORY .......................................................................................................................................................................... 51 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 3 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Functional Diagram X Accel Y Accel Amplifier ADC Z Accel DSP X Mag Y Mag Amplifier ADC Z Mag FIFO buffer Temp Sensor I 2C Interface Power Vdd GND IO Vdd Cap SDA SCL ADDR 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com DRDY/ TRIG INT © 2014 Kionix – All Rights Reserved 1.0 Page 4 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Product Specifications Note: Specifications are for operation at Vdd = 2.5V and T = 25ºC unless stated otherwise Table 1. Magnetometer Parameters Operating Temperature Range Full Scale Range Digital Bit Depth Offset at Zero Magnetic Field Offset Temperature Coefficient Magnetic Sensitivity Sensitivity Temperature Coefficient. Integral Non-Linearity 1 Noise (at 50Hz ODR) Cross Axis Sensitivity Units Value ºC -40 to 85 1200 14 0 0.3 0.146 0.05 0.5 0.4 ± T bits ± T ± T/ºC ± T/LSB ± %/ºC % of FS T (RMS) % of FS Maximum Exposed Field 2 T -1.1 (Sxy) 3.6 (Sxz) 2.1 (Syx) 0.3 (Syz) 0.8 (Szx) -1.7 (Szy) 1,000,000 Notes: 1. See plot below for noise performance over ODR for all three axes. 2. No permanent effect on Zero Magnetic Field Offset. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 5 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com PART NUMBER: KMX61-1021 Rev. 1.0 July 14 © 2014 Kionix – All Rights Reserved 1.0 Page 6 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Table 2. Accelerometer Parameters Units Value ºC mg -40 to 85 ±2 ±4 ±8 12 or 14 ±25 ± mg/ºC 0.25 Operating Temperature Range GSEL1=0, GSEL=0 Full Scale Range GSEL1=0, GSEL0=1 GSEL1=1, GSEL0=0 4 Digital Bit Depth Zero-g Offset Zero-g Offset Temperature Coefficient g GSEL1=0, GSEL=0 (± 2g) Sensitivity GSEL1=0, GSEL0=1 (± 4g) 0.98 mg/LSB GSEL1=1, GSEL0=0 (± 8g) Sensitivity Temperature Coefficient 1.95 3.91 ± %/ºC 0.03 Positive Self Test Output change on Activation g 1.4 (x) 0.7 (y) 0.6 (z) Negative Self Test Output change on Activation g -0.15 (x) -0.4 (y) -0.4 (z) Hz 3500 (xy) 1800 (z) Sensor Mechanical Resonance (-3dB) Integral Non-Linearity Cross Axis Sensitivity 3 Noise (at 50Hz) 2 1 % of FS ±% mg (RMS) 1 0.5 (Sxy) -0.4 (Sxz) 0.2 (Syx) -0.2 (Syz) 0.2 (Szx) 0.7 (Szy) 1.25 Notes: 1. Resonance as defined by the dampened mechanical sensor. 2. As measured in a test socket. The cross axis sensitivity that is measured is the by-product of positional inaccuracies at all stages of test and assembly. 3. See plot below for noise performance over ODR for all three axes. 4. 14 bit depth for 8g mode available, and 12 bit depth for 2g, 4g, and 8g 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 7 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications 8 KMX61-1021 Rev. 1.0 July 14 KMX61 Accelerometer Noise vs ODR 7 Noise (mg RMS) 6 5 4 X Y 3 Z 2 1 0 0.100 1.000 10.000 100.000 1000.000 10000.000 ODR (Hz) 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 8 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Table 3. Electrical Parameters Supply Voltage (Vdd) Operating I/O Pads Supply Voltage (Vio) Current Consumption Operating (mag + accel) Magnetometer only Accelerometer only Standby 1 Units Min Typical Max V V 1.8 1.7 2.5 3.3 Vdd 400 300 µA 150 1 5 Output Low Voltage Output High Voltage V V 0.9 * Vio - 0.3 * Vio - Input Low Voltage Input High Voltage V V 0.8 * Vio - 0.2 * Vio - MHz Hz 0.1 0.781 0.4 100 3.4 1600 2 I C Communication Rate Output Data Rate 2,3 4 Filter -3dB Cutoff Internal Oscillator Tolerance Notes: 1. 2. 3. 4. Hz % ODR/2 -10 10 2 Assuming I C communication and minimum 1.5kΩ pull-up resistor on SCL and SDA. Assuming max bus capacitance load of 20pF. 2 The I C bus supports Standard-Mode, Fast-Mode and High Speed Mode. User selectable via ODR control register setting 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 9 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 KMX61 Transition Timing Diagram Table 4. Transition Timing Symbol Description Units Min Typ Ton Power On to Ready State (Power on Reset Time) ms 10 Tmr1 Inactive to Active State (Measurement Ready varies by ODR) ms Table 5 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com Max © 2014 Kionix – All Rights Reserved 1.0 Page 10 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 KMX61 Start Up Time KMX61 Start Up Time (ms) Start Up Time (ms) 10000 1000 100 10 1 0.1 1 10 100 1000 10000 ODR (Hz) Table 5. Start Up Time Time from sensor enable to Valid output. KMX61 Start Up Time (ms) ODR (Hz) Time (ms) 1600 2.0 800 2.6 400 3.8 200 6.3 100 11 50 21 25 40 12.5 79 6.25 158 3.125 312 1.5625 629 0.78125 1260 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 11 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 KMX61 I2C Timing Diagram t t0 t2 t1 t3 t4 t6 t5 t7 SCL bit7 5 SDA bit6 5 bit0 addr_ack b7 S bit7 5 bit0 5 Sr t8 t9 addr_nack t11 t10 P Table 6. I2C Timing (Fast Mode) Number t0 t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 Note Description SDA low to SCL low transition (Start event) SDA low to first SCL rising edge SCL pulse width: high SCL pulse width: low SCL high before SDA falling edge (Start Repeated) SCL pulse width: high during a S/Sr/P event SCL high before SDA rising edge (Stop) SDA pulse width: high SDA valid to SCL rising edge SCL rising edge to SDA invalid SCL falling edge to SDA valid (when slave is transmitting) SCL falling edge to SDA invalid (when slave is transmitting) 2 Recommended I C CLK 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com MIN MAX Units 50 100 - ns ns ns ns ns ns ns ns ns ns ns ns us 100 100 100 50 100 50 25 50 50 0 2.5 © 2014 Kionix – All Rights Reserved 1.0 Page 12 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Table 7. Environmental Units Min Typical Max Supply Voltage (Vdd) Absolute Limits Parameters V -0.3 - 3.6 Operating Temperature Range Storage Temperature Range ºC ºC -40 -55 - Mech. Shock (powered and unpowered) g - - ESD V - - 85 150 5000 for 0.5ms 10000 for 0.2ms 2000 HBM Caution: ESD Sensitive and Mechanical Shock Sensitive Component, improper handling can cause permanent damage to the device. This product conforms to Directive 2002/95/EC of the European Parliament and of the Council of the European Union (RoHS). Specifically, this product does not contain lead, mercury, cadmium, hexavalent chromium, polybrominated biphenyls (PBB), or polybrominated diphenyl ethers (PBDE) above the maximum concentration values (MCV) by weight in any of its homogenous materials. Homogenous materials are "of uniform composition throughout." HF This product is halogen-free per IEC 61249-2-21. Specifically, the materials used in this product contain a maximum total halogen content of 1500 ppm with less than 900-ppm bromine and less than 900-ppm chlorine. Soldering Soldering recommendations are available upon request or from www.kionix.com. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 13 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Application Schematic Vdd C1 16 IO_Vdd 15 14 1 13 2 12 GND 11 INT1 10 TRIG 9 INT2 C2 3 SCL 4 GND 5 KMX61 6 7 8 SDA ADDR Table 8. KMX61 Pin Descriptions Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Name IO Vdd Reserved GND SCL GND SDA ADDR NC INT2 TRIG INT1 GND NC Vdd NC NC Description The power supply input for the digital communication bus. Optionally decouple this pin to ground with a 0.1uF ceramic capacitor. Leave this pin unconnected or alternatively couple this pin to ground with a 1 uF ceramic capacitor. Ground I2C Serial Clock Ground I2C Serial Data I2C Address pin .This pin can be connected to IO_VDD or GND to determine the I2C Device Address. Not Internally Connected Physical Interrupt 2 Trigger input for buffer. Connect to GND if not used. Physical Interrupt 1 Ground Not Internally Connected The power supply input. Decouple this pin to ground with a 0.1uF ceramic capacitor. Not Internally Connected Not Internally Connected 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 14 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Package Dimensions and Orientation: Dimensions 3 x 3 x 0.9 mm LGA 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 15 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Orientation When device is moved in +X, +Y, or +Z direction, the corresponding accelerometer output will increase. When the +X, +Y, or +Z arrow is directed toward North, the magnetometer output of that axis is positive. KMX61 +X +Z +Y Board Layout Please avoid mounting this product on the part in which magnetic field disturbance exists, such as near any parts containing ferrous materials. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 16 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 KMX61 Digital Interface The Kionix KMX61 digital sensor has the ability to communicate on the I2C digital serial interface bus. This flexibility allows for easy system integration by eliminating analog-to-digital converter requirements and by providing direct communication with system processors. The I2C interface is compliant with high-speed mode, fast mode and standard mode I2C protocols. The serial interface terms and descriptions as indicated in Table 8 below will be observed throughout this document. Term Transmitter Receiver Master Slave Description The device that transmits data to the bus. The device that receives data from the bus. The device that initiates a transfer, generates clock signals, and terminates a transfer. The device addressed by the Master. Table 8. Serial Interface Terminologies I2C Serial Interface As previously mentioned, the KMX61 has the ability to communicate on an I2C bus. I2C is primarily used for synchronous serial communication between a Master device and one or more Slave devices. The system Master provides the serial clock signal and addresses Slave devices on the bus. The KMX61 always operates as a Slave device during standard Master-Slave I2C operation. I2C is a two-wire serial interface that contains a Serial Clock (SCL) line and a Serial Data (SDA) line. SCL is a serial clock that is provided by the Master, but can be held low by any Slave device, putting the Master into a wait condition. SDA is a bi-directional line used to transmit and receive data to and from the interface. Data is transmitted MSB (Most Significant Bit) first in 8-bit per byte format, and the number of bytes transmitted per transfer is unlimited. The I2C bus is considered free when both lines are high. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 17 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications SDA SCL PART NUMBER: KMX61-1021 Rev. 1.0 July 14 IO Vdd SDA MCU SCL SDA KMX61 SCL ADDR SDA KMX61 SCL ADDR 2 Figure 1. Multiple KMX61 I C Connection Description I2C Wr I2C Rd I2C Wr I2C Rd Address Pad IO_VDD IO_VDD GND GND 7 bit Address 0Fh 0Fh 0Eh 0Eh Address 1Eh 1Fh 1Ch 1Dh 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0 1 Table 9. I2C Address I2C Operation Transactions on the I2C bus begin after the Master transmits a start condition (S), which is defined as a highto-low transition on the data line while the SCL line is held high. The bus is considered busy after this condition. The next byte of data transmitted after the start condition contains the Slave Address (SAD) in the seven MSBs (Most Significant Bits), and the LSB (Least Significant Bit) tells whether the Master will be receiving data ‘1’ from the Slave or transmitting data ‘0’ to the Slave. When a Slave Address is sent, each device on the bus compares the seven MSBs with its internally-stored address. If they match, the device considers itself addressed by the Master. The KMX61’s Slave Address is comprised of two programmable parts, which allows for connection of multiple KMX61's to the same I2C bus. The LSB is determined by the 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 18 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 assignment of ADDR to GND or IO_Vdd. Figure 1 and Table above shows how two KMX61's would be implemented on an I2C bus. It is mandatory that receiving devices acknowledge (ACK) each transaction. Therefore, the transmitter must release the SDA line during this ACK pulse. The receiver then pulls the data line low so that it remains stable low during the high period of the ACK clock pulse. A receiver that has been addressed, whether it is Master or Slave, is obliged to generate an ACK after each byte of data has been received. To conclude a transaction, the Master must transmit a stop condition (P) by transitioning the SDA line from low to high while SCL is high. The I2C bus is now free. Note that if the KMX61 is accessed through I2C protocol before the startup is finished a NACK signal is sent. Writing to a KMX61 8-bit Register Upon power up, the Master must write to the KMX61’s control registers to set its operational mode. Therefore, when writing to a control register on the I2C bus, as shown Sequence 1 on the following page, the following protocol must be observed: After a start condition, SAD+W transmission, and the KMX61 ACK has been returned, an 8-bit Register Address (RA) command is transmitted by the Master. This command is telling the KMX61 to which 8-bit register the Master will be writing the data. Since this is I 2C mode, the MSB of the RA command should always be zero (0). The KMX61 acknowledges the RA and the Master transmits the data to be stored in the 8-bit register. The KMX61 acknowledges that it has received the data and the Master transmits a stop condition (P) to end the data transfer. The data sent to the KMX61 is now stored in the appropriate register. The KMX61 automatically increments the received RA commands and, therefore, multiple bytes of data can be written to sequential registers after each Slave ACK as shown in Sequence 2 on the following page. When the auto-increment feature reaches register address 0x7F (Buffer Read), it stops and does not advance to register address 0x80. A new read command must be issued for registers above 0x7F. The part then continues to auto-increment until it reaches address 0xFF. Reading from a KMX61 8-bit Register When reading data from a KMX61 8-bit register on the I2C bus, as shown in Sequence 3 on the next page, the following protocol must be observed: The Master first transmits a start condition (S) and the appropriate Slave Address (SAD) with the LSB set at ‘0’ to write. The KMX61 acknowledges and the Master transmits the 8-bit RA of the register it wants to read. The KMX61 again acknowledges, and the Master transmits a repeated start condition (Sr). After the repeated start condition, the Master addresses the KMX61 with a ‘1’ in the LSB (SAD+R) to read from the previously selected register. The Slave then acknowledges and transmits the data from the requested register. The Master does not acknowledge (NACK) it received the transmitted data, but transmits a stop condition to end the data transfer. Note that the KMX61 automatically increments through its sequential registers, allowing data to be read from multiple registers following a single SAD+R command as shown below in Sequence 4 on the following page. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 19 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Data Transfer Sequences The following information clearly illustrates the variety of data transfers that can occur on the I 2C bus and how the Master and Slave interact during these transfers. Table 10 defines the I2C terms used during the data transfers. Term S Sr SAD W R ACK NACK RA Data P Definition Start Condition Repeated Start Condition Slave Address Write Bit Read Bit Acknowledge Not Acknowledge Register Address Transmitted/Received Data Stop Condition 2 Table 10. I C Terms Sequence 1. The Master is writing one byte to the Slave. Master Slave S SAD + W RA ACK DATA ACK P ACK Sequence 2. The Master is writing multiple bytes to the Slave. Master Slave S SAD + W RA ACK DATA ACK DATA ACK P ACK Sequence 3. The Master is receiving one byte of data from the Slave. Master Slave S SAD + W RA ACK Sr SAD + R ACK NACK ACK P DATA Sequence 4. The Master is receiving multiple bytes of data from the Slave. Master Slave S SAD + W RA ACK Sr ACK SAD + R ACK ACK 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com DATA NACK DATA © 2014 Kionix – All Rights Reserved 1.0 Page 20 of 51 Kionix Confidential P Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 HS-mode To enter the 3.4MHz high speed mode of communication, the device must receive the following sequence of conditions from the master: a Start condition followed by a Master code (00001XXX) and a Master Nonacknowledge. Once recognized, the device switches to HS-mode communication. Read/write data transfers then proceed as described in the sequences above. Devices return to the FS-mode after a STOP occurrence on the bus. Sequence 5. HS-mode data transfer of the Master writing one byte to the Slave. Speed Master Slave S FS-mode M-code NACK S SAD + W ACK HS-mode RA ACK 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com FS-mode DATA P ACK © 2014 Kionix – All Rights Reserved 1.0 Page 21 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Power Modes The KMX61 has four power modes: Off, Stand-by, Sleep, Enabled. The part exists in one of these four modes at any given time. Off and Stand-by modes have very low current consumptions. Power Mode Bus State VIO Vdd Off Active OFF ON OFF ON OFF OFF ON ON Stand-by Sleep Active ON ON Enabled Active ON ON Function Outputs No sensor activity Not available Waiting activation command Accelerometer active looking for motion wake up All functionalities available Not available Accel registers only – no buffer, no DRDY int All sensors available Off mode One or both of the power supplies (Vdd or VIO) are not powered. The sensor is completely inactive and neither reporting nor communicating. Bus communication actions of other devices are not disturbed if they are using the same bus interface as this component. Initial Startup The preferred startup sequence is to turn on VIO before Vdd, but if Vdd is turned on first, the component will not affect the bus communications (no latch-up or other problems during engine system level wake-up). Power On Reset (POR) is performed every time when: 1. VIO supply is valid 2. Vdd power supply is going to valid level OR 1. VIO power supply is going to valid level 2. Vdd supply is valid When POR occurs, the registers are loaded from OTP and the part is put into Stand-by mode. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 22 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Stand-by mode The primary function of the stand-by mode is to ensure fast wake-up to active mode and to minimize current consumption. This mode is set as default when both power supplies are applied and the POR function occurs. A Soft Reset command also performs the POR function and puts the part into Stand-by mode. Stand-by mode is a low power waiting state for fast turn on time. Bus communication actions of other components are not disturbed if they are using the same bus. There is only one possible way to change to active mode – a register command from the external application processor via the I2C bus. Sleep mode While in sleep mode, the accelerometer is periodically taking a measurement to detect if there is any motion. Data in the accelerometer registers is being updated, however, there is no data ready interrupt being reported. Also, no data is being sent to the buffer. Enable mode Stand-by-mode can be changed to Enabled mode by writing to register STBY_REG. This engages the full functionality of accelerometer and/or magnetometer measurements in a higher power, higher resolution mode. The host has the ability to change settings in the control register back to Stand-by mode for either or both the accelerometer and magnetometer. If enabled, the back to sleep function will put the part into the Sleep mode. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 23 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 KMX61 Embedded Registers The KMX61 has 49 embedded 8-bit registers that are accessible by the user. This section contains the addresses for all embedded registers and also describes bit functions of each register. Table 11 below provides a listing of the accessible 8-bit registers and their addresses. 2 Table 11. I C Register Map I2C Address (Hex) 00h 01h 02h 03h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 11h 12h 13h 14h 15h 16h 17h 18h 19h 1Ah 1Bh 1Ch 1Dh 24h Register Name WHO_AM_I INS1 INS2 STATUS_REG ACCEL_XOUT_L ACCEL_XOUT_H ACCEL_YOUT_L ACCEL_YOUT_H ACCEL_ZOUT_L ACCEL_ZOUT_H TEMP_OUT_L TEMP_OUT_H MAG_XOUT_L MAG_XOUT_H MAG_YOUT_L MAG_YOUT_H MAG_ZOUT_L MAG_ZOUT_H XOUT_HPF_L XOUT_HPF_H YOUT_HPF_L YOUT_HPF_H ZOUT_HPF_L ZOUT_HPF_H SN_1 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com Type R/W R R R R R R R R R R R R R R R R R R R R R R R R R © 2014 Kionix – All Rights Reserved 1.0 Page 24 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications 25h 26h 27h 28h 29h 2Ah 2Bh 2Ch 2Dh 2Eh 2Fh 3Ch 3Dh 3Eh 3Fh 40h 4Ch 60h 76h 77h 78h 79h 7Ah 7Bh 7Ch 7Dh 7Eh SN_2 SN_3 SN_4 INL STBY_REG CNTL1 CNTL2 ODCNTL INC1 INC2 INC3 COTR WUFTH WUFC BTH BTSC TEMP_EN_CNTL SELF_TEST BUF_THRESH_H BUF_THRESH_L BUF_CTRL1 BUF_CTRL2 BUF_CLEAR BUF_STATUS_REG BUF_STATUS_H BUF_STATUS_L BUF_READ 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com PART NUMBER: KMX61-1021 Rev. 1.0 July 14 R R R W R/W R/W R/W R/W R/W R/W R/W R R/W R/W R/W R/W R/W W R/W R/W R/W R/W W R R R R © 2014 Kionix – All Rights Reserved 1.0 Page 25 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Magnetometer Outputs These registers contain 14-bits of valid magnetic field data for each axis. The data is protected from overwrite during each read, and can be converted from digital counts to magnetic field strength (T) per Figure 2 below. 14-bit Data 0111 1111 1111 11 0111 1111 1111 10 … … 0000 0000 0000 01 0000 0000 0000 00 1111 1111 1111 11 … … 1000 0000 0000 01 1000 0000 0000 00 Magnetic field T +1199.8535 T +1199.7070 T … … +0.1465 T 0 T -0.1465 T … … -1199.8535 T -1200.0000 T Figure 2. Magnetic field (T) Calculation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 26 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Accelerometer Outputs These registers contain up to 14-bits of valid acceleration data for each axis depending on the setting of the GSEL bits in CTRL_REG1. The acceleration outputs are represented in 14-bit valid 8g data when GSEL = ‘11’. The acceleration outputs are represented in 12-bit valid 2g, 4g, or 8g data when GSEL = ‘00’, GSEL = ‘01’, or GSEL = ‘10’. The data is updated every user-defined ODR period, is protected from overwrite during each read, and can be converted from digital counts to acceleration (g) per Figure 3 below. The register acceleration output binary data is represented in N-bit 2’s complement format. For example, if N = 12 bits, then the Counts range is from -2048 to 2047. 14-bit Register Data (2’s complement) 0111 1111 1111 11 0111 1111 1111 10 … 0000 0000 0000 01 0000 0000 0000 00 1111 1111 1111 11 … 1000 0000 0000 01 1000 0000 0000 00 12-bit Register Data (2’s complement) 0111 1111 1111 0111 1111 1110 … 0000 0000 0001 0000 0000 0000 1111 1111 1111 … 1000 0000 0001 1000 0000 0000 Equivalent Counts in decimal 8191 8190 … 1 0 -1 … -8191 -8192 Equivalent Counts in decimal 2047 2046 … 1 0 -1 … -2047 -2048 Range = +/-2g +1.999g +1.998g … +0.001g 0.000g -0.001g … -1.999g -2.000g Range = +/-8g +7.999g +7.998g … +0.001g 0.000g -0.001g … -7.999g -8.000g Range = +/-4g +3.998g +3.996g … +0.002g 0.000g -0.002g … -3.998g -4.000g Range = +/-8g +7.996g +7.992g … +0.004g 0.000g -0.004g … -7.996g -8.000g Figure 3. Acceleration (g) Calculation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 27 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Temperature Output The temperature registers contain up to 14-bits of temperature data. If only register TEMP_OUT_H is used, then the sensitivity can be considered as 1 count/ᵒC. If both registers TEMP_OUT_H and TEMP_OUT_L are used (14 bits), then sensitivity can be considered as 64 count/ᵒC. 8-bit Register Data TEMP_OUT_H (2’s complement) 0101 0101 … 0000 0001 0000 0000 1111 1111 … 1101 1000 14-bit Register Data (2’s complement) 0101 0011 0000 01 … 0000 0001 0000 00 … 0000 0000 0000 01 0000 0000 0000 00 1111 1111 1111 10 … 1111 1110 1111 11 … 1101 1000 1111 00 Equivalent Counts in decimal 85 … 1 0 -1 … -40 Equivalent Counts in decimal 5312 … 64 … 1 0 -1 … -64 … -2500 Temperature (ᵒC) +85 ᵒC … +1 ᵒC 0 ᵒC -1 ᵒC … -40 ᵒC Temperature (ᵒC) +84.992 ᵒC … +1.024 ᵒC … +0.016 ᵒC 0.000 ᵒC -0.016 ᵒC … -1.024 ᵒC … -40.000 ᵒC Figure 4. Temperature (ᵒC) Calculation 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 28 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Register Descriptions WHO_AM_I This register can be used for supplier recognition, as it can be factory written to a known byte value. The default value is 0x12h. Register Addr WHO_AM_I 00h R/W Default R 12h Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 WAI WAI WAI WAI WAI WAI WAI WAI INS1 Interrupt source register 1 –This Register tells which function caused an interrupt. Register Addr INS1 01h R/W Default R na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 BFI WMI DRDY_ACCEL DRDY_MAG 0 WUFS BTS BFI - indicates that the buffer is full. This bit is cleared when the data is read or the interrupt release register (INL Register ) is read. BFI = 0 – Buffer is not full BFI = 1 – Buffer is full WMI - indicates that user-defined buffer watermark has been reached. This bit is cleared when the data is read or cleared to below the WMI threshold. WMI = 0 – Buffer watermark not reached WMI = 1 – Buffer watermark reached DRDY_ACCEL - indicates that new acceleration data is available. This bit is cleared when the data is read or the interrupt release register (INL Register) is read. DRDY = 0 – New acceleration data not available DRDY = 1 – New acceleration data available DRDY_MAG - indicates that new magnetometer data is available. This bit is cleared when the data is read or the interrupt release register (INL Register) is read. DRDY = 0 – New acceleration data not available DRDY = 1 – New acceleration data available WUFS - Wake up, This bit is cleared when the interrupt source latch register (INL Register) is read. WUFS = 1 – Motion has activated the interrupt WUFS = 0 – No motion BTS – Back to Sleep interrupt BTS = 0 – normal operating mode, motion is occurring BTS = 1 – lack of motion has activated the interrupt 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 29 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 INS2 Interrupt source register 2 – This Register reports the axis and direction of the motion that triggered the wakeup interrupt. ‘ Addr INS2 02h R/W Default R na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 XNWU XPWU YNWU YPWU ZNWU ZPWU Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 0 INT 0 0 0 0 XNWU - x negative (x-) XPWU - x positive (x+) YNWU - y negative (y-) YPWU - y positive (y+) ZNWU - z negative (z-) ZPWU - z positive (z+) STATUS_REG Status register. Register Addr STATUS_REG 03h R/W Default R na INT reports the combined (OR) interrupt information of DRDY, WUFS, and BTS. 0= no interrupt event, 1= interrupt event has occurred. ACCEL_OUT Accelerometer output (12 bit resolution applicable to +/-2g, +/-4g, +/-8g ranges) Register Addr ACCEL_XOUT_L ACCEL_XOUT_H ACCEL_YOUT_L ACCEL_YOUT_H ACCEL_ZOUT_L ACCEL_ZOUT_H 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh R/W Default R R R R R R na na na na na na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z 0 ACC_X 0 ACC_Y 0 ACC_Z 0 ACC_X 0 ACC_Y 0 ACC_Z 0 ACC_X 0 ACC_Y 0 ACC_Z 0 ACC_X 0 ACC_Y 0 ACC_Z 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 30 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Accelerometer output (14 bit resolution only when CNTL1 (GSEL = ‘11’), +/-8g range) Register Addr ACCEL_XOUT_L ACCEL_XOUT_H ACCEL_YOUT_L ACCEL_YOUT_H ACCEL_ZOUT_L ACCEL_ZOUT_H 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh R/W Default R R R R R R na na na na na na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z ACC_X ACC_X ACC_Y ACC_Y ACC_Z ACC_Z 0 ACC_X 0 ACC_Y 0 ACC_Z 0 ACC_X 0 ACC_Y 0 ACC_Z TEMP_OUT Temperature Output Register Addr TEMP_OUT_L TEMP_OUT_H 10h 11h R/W Default R R na na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 Temp Temp Temp Temp Temp Temp Temp Temp Temp Temp Temp Temp 0 Temp 0 Temp MAG_OUT MAG output. Register Addr MAG_XOUT_L MAG_XOUT_H MAG_YOUT_L MAG_YOUT_H MAG_ZOUT_L MAG_YOUT_H 12h 13h 14h 15h 16h 17h R/W Default R R R R R R na na na na na na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 MAG_X MAG_X MAG_Y MAG_Y MAG_Z MAG_Z MAG_X MAG_X MAG_Y MAG_Y MAG_Z MAG_Z MAG_X MAG_X MAG_Y MAG_Y MAG_Z MAG_Z MAG_X MAG_X MAG_Y MAG_Y MAG_Z MAG_Z MAG_X MAG_X MAG_Y MAG_Y MAG_Z MAG_Z MAG_X MAG_X MAG_Y MAG_Y MAG_Z MAG_Z 0 MAG_X 0 MAG_Y 0 MAG_Z 0 MAG_X 0 MAG_Y 0 MAG_Z ACCEL_OUT_HPF High-pass filtered accelerometer output. Register Addr XOUT_HPF_L XOUT_HPF_H YOUT_HPF_L YOUT_HPF_H ZOUT_HPF_L ZOUT_HPF_H 18h 19h 1Ah 1Bh 1Ch 1Dh R/W Default R R R R R R na na na na na na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 XHP XHP YHP YHP ZHP ZHP XHP XHP YHP YHP ZHP ZHP XHP XHP YHP YHP ZHP ZHP XHP XHP YHP YHP ZHP ZHP 0 XHP 0 YHP 0 ZHP 0 XHP 0 YHP 0 ZHP 0 XHP 0 YHP 0 ZHP 0 XHP 0 YHP 0 ZHP 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 31 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 SN Individual Identification (serial number) Register Addr SN_1 SN_2 SN_3 SN_4 24h 25h 26h 27h R/W Default R R R R OTP OTP OTP OTP Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN SN INL Interrupt Latch Release – Latched interrupt source information (at INS1 and INS2) is cleared and physical interrupt latched pin is changed to its inactive state when this register is read. Register Addr INL 28h R/W Default W na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 ACT_STBY 0 0 0 0 0 MAG_STBY ACCEL_STBY STBY_REG Stand-by status Register Addr STBY_REG 29h R/W 7Fh R/W Default ACCEL_STBY controls the operating mode of the ASIC_AL’s accelerometer ACCEL_STBY = 0 – operating mode ACCEL_STBY = 1 – stand-by mode. WUF and BTS engines will not function. MAG_STBY controls the operating mode of the ASIC_AL’s magnetometer. MAG_STBY = 0 – operating mode. Sensor will respond to WUF and BTS engines if those engines are enabled and ACT_STBY=1. MAG_STBY = 1 – stand-by mode. Sensor will not respond to WUF and BTS engines if those engines are enabled. ACT_STBY allows the ASIC_AL to control the operating mode of all of the connected devices based on the activity state of the device ACT_STBY = 0 – feature disabled. If both accelerometer and magnetometer are enabled (ACCEL_STBY=0 and MAG_STBY = 0), neither accelerometer nor magnetometer can be disabled independently. The part has to be disabled by setting both ACCEL_STBY and MAG_STBY to one. ACT_STBY = 1 – Magnetometer will be enabled when the internal accelerometer measures activity and disabled when the internal accelerometer measures inactivity 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 32 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 CTRL_REG1 Read/Write control register 1 Register Addr CNTL1 2Ah R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BTSE WUFE DRDYE 1 0 0 Gsel1 Gsel0 BTSE enables the Back to Sleep engine BTSE = 0 – disable BTSE = 1 – enable WUFE enables the Wake up engine WUFE = 0 – disabled WUFE = 1 – enable DRDYE enables the reporting of the availability of new sensor data on the interrupt pin. DRDYE = 0 – disable DRDYE = 1 – enable GSEL1, GSEL0 selects the acceleration range of the accelerometer outputs per the following table. GSEL1 GSEL0 Range 0 0 +/-2g, 12 bit 0 1 +/-4g, 12 bit 1 0 +/-8g, 12 bit 1 1 +/-8g, 14-bit Selected Acceleration Range Note: After a motion wake-up event, Bit 4 of CTRL_REG1 must be re-written as a 1 to obtain full functionality of the magnetometer and accelerometer. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 33 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 CTRL_REG2 Read/Write control register: Register Addr CNTL2 2Bh R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 SRST STPOL RESERVED COTC 0 OWUFA OWUFB OWUFC SRST Software Reset function SRST = 0 – no action SRST = 1 – start POR routine STPOL - ST polarity control STPOL = 0 – ST polarity is positive STPOL = 1 – ST polarity is negative. COTC enables the command test function COTC= 0 – no action COTC = 1 – sets AAh to COTR register, when the COTR register is read, COTC is cleared and STR = 55h. OWUF(2:0): Output Data Rate at which the wake up (motion detection) performs its function. OWUFA OWUFB OWUFC Output Data Rate (Hz) 0 0 0 0.781 0 0 1 1.563 0 1 0 3.125 0 1 1 6.25 1 0 0 12.5 1 0 1 25 1 1 0 50 1 1 1 100 ODCNTL Output data control register Register Addr ODCNTL 2Ch R/W 22h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 OSMA OSMB OSMC OSMD OSAA OSAB OSAC OSAD 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 34 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 OSA(3:0): Rate at which data samples from the accelerometer will be updated in the register map. OSAA 0 0 0 0 0 0 0 0 1 1 1 1 OSAB 0 0 0 0 1 1 1 1 0 0 0 0 OSAC 0 0 1 1 0 0 1 1 0 0 1 1 OSAD Output Data Rate (Hz) 0 12.5 1 25 0 50 1 100 0 200 1 400 0 800 1 1600 0 0.781 1 1.563 0 3.125 1 6.25 Table 12. Accelerometer Sampling Rate OSM(3:0): Rate at which data samples from the magnetometer will be updated in the register map. OSMA 0 0 0 0 0 0 0 0 1 1 1 1 OSMB 0 0 0 0 1 1 1 1 0 0 0 0 OSMC 0 0 1 1 0 0 1 1 0 0 1 1 OSMD Output Data Rate (Hz) 0 12.5 1 25 0 50 1 100 0 200 1 400 0 800 1 1600 0 0.781 1 1.563 0 3.125 1 6.25 Table 13. Magnetometer Sampling Rate Note: The FIFO buffer will be updated at the faster of the two output data rates (OSM or OSA). Note: Before changing the ODR of a sensor, both sensors should be in stand by via the STBY_REG. Write the new ODR value(s) to ODCNTL, then enable the sensor(s) via the STBY_REG. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 35 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 INC1 Interrupt control 1 – Physical interrupt pin 1 control Register Addr INC1 2Dh R/W 10h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BFI1 WMI1 IEN1 IEA1 IEL1 DRDY_A1 DRDY_M1 WUFS/BTS1 BFI1 - Buffer full interrupt reported on physical interrupt pin 1 BFI = 0 – disable BFI = 1 – enable. WMI1 - Watermark interrupt reported on physical interrupt pin 1 WMI1 = 0 – disable WMI1 = 1 – enable. IEN1 - Enable/disable physical interrupt pin 1 IEN1 = 0 – disable IEN1 = 1 – enable. IEA1 - Interrupt active level control for interrupt pin 1 IEA1 = 0 – active low IEA1 = 1 – active high. IEL1 - Interrupt latch control for interrupt pin 1 IEL1 = 0 – latched IEL1 = 1 – pulsed. In pulse mode the pulse width is 50us for normal mode and 10us for debug mode. DRDY_A1 - Accelerometer Data ready reported on physical interrupt pin 1 (DRDYE must be set) DRDY_A1 = 0 – disable DRDY_A1 = 1 – enable. DRDY_M1 - Magnetometer Data ready reported on physical interrupt pin 1(DRDYE must be set) DRDY_M1 = 0 – disable DRDY_M1 = 1 – enable. WUFS/BTS1 - Wake up/Back to Sleep interrupt reported on physical interrupt pin 1 WUFS/BTS1 = 0 – disable WUFS/BTS1 = 1 – enable. INC2 Interrupt control 2 – Physical interrupt pin 2 control Register Addr INC2 2Eh R/W 10h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BFI2 WMI2 IEN2 IEA2 IEL2 DRDY_A2 DRDY_M2 WUFS/BTS2 BFI2 - Buffer full interrupt reported on physical interrupt pin 2 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 36 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 BFI = 0 – disable BFI = 1 – enable. WMI2 - Watermark interrupt reported on physical interrupt pin 2 WMI1 = 0 – disable WMI1 = 1 – enable. IEN2 - Enable/disable physical interrupt pin 2 IEN1 = 0 – disable IEN1 = 1 – enable. IEA2 - Interrupt active level control for interrupt pin 2 IEA1 = 0 – active low IEA1 = 1 – active high. IEL2 - Interrupt latch control for interrupt pin 2 IEL1 = 0 – latched IEL1 = 1 – pulsed. In pulse mode the pulse width is 50us for normal mode and 10us for debug mode. DRDY_A2 - Accelerometer Data ready reported on physical interrupt pin 2 DRDY_A1 = 0 – disable DRDY_A1 = 1 – enable. DRDY_M2 - Magnetometer Data ready reported on physical interrupt pin 2 DRDY_M1 = 0 – disable DRDY_M1 = 1 – enable. WUFS/BTS2 - Wake up/Back to Sleep interrupt reported on physical interrupt pin 2 WUFS/BTS1 = 0 – disable WUFS/BTS1 = 1 – enable. INC3 Interrupt control 3 – This register controls which axis and direction of detected motion can cause an interrupt. Register Addr INC3 2Fh R/W 3Fh R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 NXWUE PXWUE NYWUE PYWUE NZWUE PZWUE NXWUE - x negative (x-) mask for WUF, 0=disable, 1=enable. PXWUE - x positive (x+) mask for WUF, 0=disable, 1=enable. NYWUE - y negative (y-) mask for WUF, 0=disable, 1=enable. PYWUE - y positive (y+) mask for WUF, 0=disable, 1=enable. NZWUE - z negative (z-) mask for WUF, 0=disable, 1=enable. PZWUE - z positive (z+) mask for WUF, 0=disable, 1=enable. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 37 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 COTR (STR) This register can be used to verify proper communication functionality. It always has a byte value of 0x55h unless the COTC bit in CTRL_REG2 is set. At that point this value is set to 0xAAh. The byte value is returned to 0x55h after reading this register. Register Addr COTR 3Ch R/W Default R 55h Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 COTR COTR COTR COTR COTR COTR COTR COTR WUF_THRESH (ATH) This register sets the acceleration threshold, WUF Threshold, that is used to detect a general motion input. WUF_THRESH scales with GSEL1-GSEL0 in CTRL_REG1, and the KMX61 will ship from the factory with this value set to correspond to a change in acceleration of 0.5g when configured to +/-8g. Note that to properly change the value of this register, the accelerometer should be in stand by via the STBY_REG. Register Addr WUFTH 3Dh R/W 08h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 WUFTH WUFTH WUFTH WUFTH WUFTH WUFTH WUFTH WUFTH WUF_TIMER This register is the initial count register for the motion detection timer (0 to 255 counts). Every count is calculated as 1/ODR delay period, where the Motion Wake Up ODR is user-defined per the OWUF bits in CTRL_REG2. A new state must be valid as many measurement periods before the change is accepted. Note that to properly change the value of this register, the accelerometer should be in stand by via the STBY_REG. Register Addr WUFC 3Eh R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 WUFC WUFC WUFC WUFC WUFC WUFC WUFC WUFC BTS_THRESH (BTH) This register sets the acceleration threshold, BTS Threshold, which is used to signify when there is no motion input. BTS_THRESH scales with GSEL1-GSEL0 in CTRL_REG1, and the KMX61 will ship from the factory with this value set to correspond to a change in acceleration of 0.5g when configured to +/-8g. Note that to properly change the value of this register, the accelerometer should be in stand by via the STBY_REG. Register Addr BTH 3Fh R/W 08h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BTH BTH BTH BTH BTH BTH BTH BTH BTS_TIMER This register is the initial count register for the motion detection timer (0 to 255 counts). Every count is calculated as 1/ODR delay period, where the Motion Wake Up ODR is user-defined per the OWUF bits in CTRL_REG2. A new state must be valid as many measurement periods before the change is 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 38 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 accepted. Note that to properly change the value of this register, the accelerometer should be in stand by via the STBY_REG. Register Addr BTSC 40h R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BTSC BTSC BTSC BTSC BTSC BTSC BTSC BTSC SELF_TEST When 0xCA is written to this register, the accelerometer self-test function is enabled. Electrostaticactuation of the accelerometer, results in a DC shift of the X, Y and Z axis outputs. Writing 0x00 to this register will return the accelerometer to normal operation. Register Addr SELF_TEST 60h R/W Default W na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 1 1 0 0 1 0 1 0 BUF_THRESH Read/write control register that controls the buffer sample threshold. Register Addr BUF_THRESH_H BUF_THRESH_L 76h R/W 00h 77h R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 SMT_TH 0 SMT_TH 0 SMT_TH 0 SMT_TH 0 SMT_TH 0 SMT_TH SMT_TH SMT_TH SMT_TH SMP_TH[8:0] Sample Threshold; determines the number of data bytes that will trigger a watermark interrupt or will be saved prior to a trigger event. The maximum number of data bytes is 512. Buffer Model Bypass FIFO Stream Trigger FILO Sample Function None Specifies how many buffer samples are needed to trigger a watermark interrupt. Specifies how many buffer samples are needed to trigger a watermark interrupt. Specifies how many buffer samples before the trigger event are retained in the buffer. Specifies how many buffer samples are needed to trigger a watermark interrupt. Table 14. Sample Threshold Operation by Buffer Mode 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 39 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 BUF_CTRL1 Read/write control register that controls sample buffer operation. Register Addr BUF_CTRL1 78h R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BUFE 0 BUF_FIE 0 0 0 BUF_M BUF_M BUFE controls activation of the sample buffer. BUFE = 0 – sample buffer inactive BUFE = 1 – sample buffer active BUF_FIE controls the buffer full interrupt BUF_FIE = 0 – the buffer full interrupt, BFI is disabled BUF_FIE = 1 – the buffer full interrupt, BFI will be triggered when the buffer is full BUF_M1, BUF_M0 selects the operating mode of the sample buffer per Table 15. BUF_M1 BUF_M0 Mode 0 0 FIFO 0 1 Stream 1 0 Trigger 1 1 FILO Description The buffer collects BUFFER_FULL_BYTES bytes of data until full, collecting new data only when the buffer is not full. The buffer holds the last BUFFER_FULL_BYTES bytes of data. Once the buffer is full, the oldest data is discarded to make room for newer data. When a trigger event occurs (logic high input on TRIG pin), the buffer holds the last data set of SMP[6:0] samples before the trigger event and then continues to collect data until full. New data is collected only when the buffer is not full. The buffer holds the last BUFFER_FULL_BYTES bytes of data. Once the buffer is full, the oldest data is discarded to make room for newer data. Reading from the buffer in this mode will return the most recent data first. Table 15. Selected Buffer Mode 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 40 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 BUF_CTRL2 Read/write control register that controls sample buffer operation. Register Addr BUF_CTRL2 79h R/W 00h R/W Default Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BUF_MAG BUF_ACC 0 0 0 0 0 0 BUF_MAG controls the magnetometer input into the sample buffer. BUF_MAG = 0 – Magnetometer data is not input into the sample buffer BUF_MAG = 1 – Magnetometer data is input into the sample buffer BUF_ACC controls the Accelerometer input into the sample buffer. BUF_ACC = 0 – Accelerometer data is not input into the sample buffer BUF_ACC = 1 – Accelerometer data is input into the sample buffer BUF_CLEAR Latched buffer status information and the entire sample buffer are cleared when any data is written to this register. Register Addr BUF_CLEAR 7Ah W R/W Default 00h Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 BUF_STATUS_REG This register reports the status of the sample buffer trigger function. Register Addr BUF_STATUS_REG 7Bh R/W Default R 00h Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 BUF_TRIG 0 0 0 0 0 0 0 BUF_TRIG reports the status of the buffer’s trigger function if this mode has been selected. When using trigger mode, a buffer read should only be performed after a trigger event. BUF_STATUS This register reports the status of the sample buffer. Register Addr BUF_STATUS_H BUF_STATUS_L 7Ch 7Dh R/W Default R R 00h 00h Bit 7 0 0 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 SMP_LEV SMP_LEV SMP_LEV SMP_LEV SMP_LEV SMP_LEV SMP_LEV 0 0 0 0 0 SMP_LEV SMP_LEV SMP_LEV[8:0] Sample Level; reports the number of data bytes that have been stored in the sample buffer. If this register reads 0, no data has been stored in the buffer. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 41 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 BUF_READ Data in the buffer can be read according to the BUF_M settings in BUF_CTRL1 by executing this command. More samples can be retrieved by continuing to toggle SCL after the read command is executed. Data should advance by using auto-increment. Additional samples cannot be written to the buffer while data is being read from the buffer using auto-increment mode. Output data is in 2’s Complement format. Register Addr BUF_READ 7Eh R/W Default R na Bit 7 Bit 6 Bit 5 Bit 4 Bit3 Bit 2 Bit 1 Bit 0 0 0 0 0 0 0 0 0 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 42 of 51 Kionix Confidential PART NUMBER: Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications KMX61-1021 Rev. 1.0 July 14 Sample Buffer Feature Description The 512 byte sample buffer feature of the ASIC_AL accumulates and outputs data based on how it is configured. There are 4 buffer modes available. Data is collected at the highest ODR specified by OSMA:OSMD or OSAA:OSAD in the Output Data Control Register. Each buffer mode accumulates data, reports data, and interacts with status indicators in a slightly different way. FIFO Mode Data Accumulation Sample collection stops when the buffer is full. Data Reporting Data is reported with the oldest byte of the oldest sample first (X_L or X based on resolution). Status Indicators A watermark interrupt occurs when the number of samples in the buffer reaches the Sample Threshold. The watermark interrupt stays active until the buffer contains less than this number of samples. This can be accomplished through clearing the buffer or reading greater than SMPX. BUF_RES=0: SMPX = SMP_LEV[8:0] – SMP_TH[8:0] Equation 6. Samples Above Sample Threshold Stream Mode Data Accumulation Sample collection continues when the buffer is full; older data is discarded to make room for newer data. Data Reporting Data is reported with the oldest sample first (uses FIFO read pointer). Status Indicators A watermark interrupt occurs when the number of samples in the buffer reaches the Sample Threshold. The watermark interrupt stays active until the buffer contains less than this number of samples. This can be accomplished through clearing the buffer or explicitly reading greater than SMPX samples (calculated with Equation 1). 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 43 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications PART NUMBER: KMX61-1021 Rev. 1.0 July 14 Trigger Mode Data Accumulation When a logic high signal occurs on the TRIG pin, the trigger event is asserted and SMP[8:0] samples prior to the event are retained. Sample collection continues until the buffer is full. Data Reporting Data is reported with the oldest sample first (uses FIFO read pointer). Status Indicators When a physical interrupt occurs and there are at least SMP[8:0] samples in the buffer, BUF_TRIG in BUF_STATUS_REG2 is asserted. FILO Mode Data Accumulation Sample collection continues when the buffer is full; older data is discarded to make room for newer data. Data Reporting Data is reported with the newest byte of the newest sample first (Z_H or Z based on resolution). Status Indicators A watermark interrupt occurs when the number of samples in the buffer reaches the Sample Threshold. The watermark interrupt stays active until the buffer contains less than this number of samples. This can be accomplished through clearing the buffer or explicitly reading greater than SMPX samples (calculated with Equation 1). Buffer Operation The following diagrams illustrate the operation of the buffer conceptually. Actual physical implementation has been abstracted to offer a simplified explanation of how the different buffer modes operate. Regardless of the selected mode, the buffer fills sequentially, two-byte at a time and one set_count number of bytes at the highest ODR. Figure 5 shows one 12-byte data sample with accelerometer and magnetometer enabled. The next Figures represent a 10sample version of the buffer (for simplicity), with Sample Threshold set to 8. 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax:607-257-1146 www.kionix.com - info@kionix.com © 2014 Kionix – All Rights Reserved 1.0 Page 44 of 51 Kionix Confidential Digital Tri-axis Magnetometer/ Tri-axis Accelerometer Specifications buffer write pointer ----> Index 0 1 2 3 4 5 6 7 8 9 10 11 12 Byte ACCEL X_L ACCEL X_H ACCEL Y_L ACCEL Y_H ACCEL Z_L ACCEL Z_H MAG X_L MAG X_H MAG Y_L MAG Y_H MAG Z_L MAG Z_H PART NUMBER: KMX61-1021 Rev. 1.0 July 14