KXCNL-1010-FR

AN 029 Getting Started with the KXCNL Introduction This application note will help developers quickly implement proof-of-concept designs using the KXCNL tri-axis accelerometer. Please refer to the KXCNL data sheet for additional implementation guidelines. The KXCNL provides the capability to define two independent finite state machines with up to 16 states, along with programmable actions initiated at state transitions. This capability allows users to implement a wide range of recognition algorithms such as wake up, free fall, screen orientation, tap/double tap, step recognition, etc.. This application note discusses the implementation of free-fall and motion detection algorithm utilizing one of the state machines. Required theory, equations, and sample event signature are provided with this note as guidelines for characterizing free-fall and motion models. Note: Examples discussed in this application note pertain to State Program 2. Circuit Schematic Recommended wiring for the KXCNL are based on proven operation of the part. Specific applications may require modifications from these recommendations. Please refer to the KXCNL Data Sheet for all pin descriptions. C1 16 15 14 IO Vdd 1 13 C2 2 12 3 SCL KXCNL 4 11 INT1 10 5 9 7 INT2 8 ADD R SDA 6 Figure 1. Application Schematic Table 1: KXCNL Pin Descriptions 36 Thornwood Dr. – Ithaca, NY 14850 tel: 607-257-1080 – fax: 607-257-1146 www.kionix.com - info@kionix.com © Kionix 2012 Rev 1.0 Feb 2013 Page 1 of 15 AN 029 Description Pin Name 1 VIO 2 3 NC NC The power supply input for the digital logic and communication bus. Decouple this pin to ground with a 0.001 - 0.01uF ceramic capacitor. Not Connected Internally. Not Connected Internally. 4 SCL I2C Serial Clock 5 6 7 8 9 10 GND SDA ADDR NC INT2 NC Ground I2C Serial Data I2C Address selection. Connect to VIO or GND to select I2C slave address. Not Connected Internally. Physical Interrupt 2 Not Connected Internally. 11 INT1 Physical Interrupt 1 / Data Ready 12 GND Ground 13 NC Not Connected Internally. 14 Vdd The main power supply input. Decouple this pin to ground with a 0.1 - 0.47uF ceramic capacitor. 15 NC Not Connected Internally. 16 NC Not Connected Internally. © Kionix 2012 Rev 1.0 Feb 2013 Page 2 of 15 AN 029 Quick Start Implementation Two basic ways to initialize the part are presented. These methods can vary based on desired operation, but generally the initial operations a developer wants to do are: 1) read back acceleration data, 2) use one of the state machines. These cursory solutions are provided as a means for configuring the part to a known operational state. Note that these conditions just provide a starting point, and the values may vary as developers refine their application requirements. 1- Read Back Acceleration Data - Write 0x95 to Control Register 1 (CTRL1) to assert PC1 (Power Control bit), set the Grange to +/-2g, and set the ODR to 100 Hz. Address Value Hex Binary Hex Binary CTRL_REG1 0x1B 0001 1011 0x95 1001 0101 Acceleration data can now be read from the OUTX_L, OUTX_H, OUTY_L, OUTY_H, OUTZ_L, and OUTZ_H registers. Register Name - 2- State Program 2 as a Free Fall Detection Engine or Motion Detection Engine Overview Many applications require some sort of processing of the sensor readings, in this application note we will discuss free fall and motion detection. In free fall detection, generally one wants to know when total acceleration (Equation 1) has stayed below a certain threshold for a certain amount of time, where in motion detection, generally one wants to know when acceleration on one or more axis is above a threshold for a certain amount of time. However, total acceleration in KXCNL is calculated with an approximation formula (Equation 2). The calculated total acceleration vector length result is filtered (if enabled) with an adjustable Band Pass filter (Please refer to the Product Data Sheet under Vector Filter Coefficients section). Free-Fall and Motion algorithms and many others can be described as a finite state machine. To support this type of decoding without CPU intervention, KXCNL includes two highly configurable state machines with up to 16 states. The behavior of each state can be individually configured. Please refer to State Program OP Codes under the Appendix Section and End Programmers Topics for State Program Execution document for a complete list and proper usage of conditions and commands. atotal  x 2  y 2  z 2 Equation 1: Total Acceleration a1  x  y  z a2  max( x , y , z ) vraw  45 * a1  77 * a2  / 256 Equation 2: Approximation for Total Acceleration © Kionix 2012 Rev 1.0 Feb 2013 Page 3 of 15 AN 029 Free-Fall Algorithm When a tri-axis accelerometer is stationary, its total acceleration it measures is 1g (9.8 m/s^2), regardless of orientation. When a tri-axis accelerometer is dropped in any orientation, it is in freefall and the measured acceleration on all three axis is 0g. Therefore, the total vector is zero as well. Total vector can be monitored by the state programs to determine if the accelerometer has been dropped. Throughout this application note we will be looking at linear free-fall and will not be discussing scenarios where rotation and or projection is introduced. Table 1 below describes the implementation of free-fall in State Program 2 with following algorithm parameters (Please refer to State Program Appendix document for detailed description of Conditions and Commands usage). Table 2 describes the necessary control register settings (Refer to Product Datasheet for control register bit descriptions). Algorithm Parameters: - Data = raw, no decimation - Threshold = 0.250 G, unsigned - Stability Timer = 100 ms - G-range = +/-2g - ODR = 100 Hz - Interrupt = interrupt is latched and routed to INT2 pin - Mask = Vector length, unfiltered Register Name /ST1_2 Address Hex Binary 0x60 0110 0000 Mnemonic Reset NOP Next Value Hex Binary 0000 1010 wait for vector length to be less than threshold 2 0x62 0110 0010 make sure vector length is less than threshold 2 for 100ms, reset immediately if vector length is greater than threshold 2 LLTH2 0x0A GNTH2 TI2 Description /ST2_2 0x61 0110 0001 /ST3_2 0x62 0110 0010 OUTC 0x88 1000 1000 Output source information to /OUTS2 register and continue /ST4_2 0x63 0110 0011 CONT 0x11 0001 0001 Continue execution from reset point, reset point is first address of state program 2 /ST5_2 0x64 0110 0100 0x00 0000 0000 Not Used /ST6_2 0x65 0110 0101 0x00 0000 0000 Not Used /ST7_2 0x66 0110 0110 0x00 0000 0000 Not Used /ST8_2 0x67 0110 0111 0x00 0000 0000 Not Used /ST9_2 0x68 0110 1000 0x00 0000 0000 Not Used /ST10_2 0x69 0110 1001 0x00 0000 0000 Not Used /ST11_2 0x6A 0110 1010 0x00 0000 0000 Not Used © Kionix 2012 Rev 1.0 Feb 2013 Page 4 of 15 AN 029 /ST12_2 0x6B 0110 1011 0x00 0000 0000 Not Used /ST13_2 0x6C 0110 1100 0x00 0000 0000 Not Used /ST14_2 0x6D 0110 1101 0x00 0000 0000 Not Used /ST15_2 0x6E 0110 1110 0x00 0000 0000 Not Used /ST16_2 0x6F 0110 1111 0x00 0000 0000 Not Used /TIM4_2 0x70 0111 0000 0x00 0000 0000 /TIM3_2 /TIM2_2 (LSB) /TIM2_2 (MSB) /TIM1_2 (LSB) /TIM1_2 (MSB) 0x71 0111 0001 0x00 0000 0000 0x72 0111 0010 0x0A 0000 1010 0x73 0111 0011 0x00 0000 0000 0x74 0111 0100 0x00 0000 0000 0x75 0111 0101 0x00 0000 0000 /THRS2_2 0x76 0111 0110 0x0F 0000 1111 /THRS1_2 0x77 0111 0111 0x00 0000 0000 /DES2 0x78 0111 1000 0x00 0000 0000 /SA2 0x79 0111 1001 0x00 0000 0000 /MA2 0x7A 0111 1010 0x02 0000 0010 /SETT2 Register Name Timer 2 = 10 (100 ms @ 100 Hz ODR) Threshold 2 = 15 (0.250 mg @ +/-2g range) +Vector length unmasked Continue command proceeds 0x7B 0111 1011 0x01 0000 0001 (continue execution from reset point) Table 2: Implementation of Free-Fall in State Program 2 Address Hex Value Binary Hex Description Binary /CTRL1 0x1B 0001 1011 0x95 1001 0101 Active mode, +/-2g range, 100 Hz ODR, and physical interrupt enabled /CTRL3 0x1D 0001 1101 0x09 0000 1001 State Program 2 interrupt routed to INT2 pin, and State Program 2 enabled /CTRL4 0x1E 0x50 0101 0000 Interrupt signal active high, INT2 signal is enabled, 0001 1110 Table 3: Control Register Settings © Kionix 2012 Rev 1.0 Feb 2013 Page 5 of 15 AN 029 Motion Detection Algorithm When a tri-axis accelerometer is stationary, its total acceleration it measures is 1g (9.8 m/s^2), regardless of orientation. In order for all three axes to be equally sensitive when triggering a motion interrupt we need to take out the gravitational component. This is why we will be looking at differential acceleration. In this example, differential acceleration will be configured for current x, y, z sample minus the previous x, y, z sample. When a tri-axis accelerometer is moved in any direction that yields a stimulus greater than a pre-defined threshold, it is deemed to be in motion and an interrupt will be sent. Table 3 below describes the implementation of motion detection in State Program 2 with following algorithm parameters (Please refer to State Program Appendix document for detailed description of Conditions and Commands usage). Table 4 describes the necessary control register settings (Refer to Product Datasheet for control register bit descriptions). Algorithm Parameters: - Data = differential, no decimation - Threshold = 0.080 G, unsigned - Stability Timer = 200 ms - G-range = +/-2g - ODR = 25 Hz - Interrupt = interrupt is latched and routed to INT2 pin - Mask = unfiltered Register Name /ST1_2 Address Hex Binary 0x60 0110 0000 /ST2_2 0x61 0110 0001 /ST3_2 0x62 0110 0010 Mnemonic Reset NOP Next Value Hex OUTC CONT Binary 0000 0110 Any/triggered axis greater than threshold 2 0xA2 1010 0010 Make sure that differential acceleration is greater than threshold for 200 ms or 5 samples (25 Hz ODR) 0x88 1000 1000 Output source information to /OUTS2 register and continue 0x11 0001 0001 Continue execution from reset point, reset point is first address of state program 2 GNTH2 0x06 LLTH2 TI2 Description /ST4_2 0x63 0110 0011 /ST5_2 0x64 0110 0100 0x00 0000 0000 Not Used /ST6_2 0x65 0110 0101 0x00 0000 0000 Not Used /ST7_2 0x66 0110 0110 0x00 0000 0000 Not Used /ST8_2 0x67 0110 0111 0x00 0000 0000 Not Used /ST9_2 0x68 0110 1000 0x00 0000 0000 Not Used /ST10_2 0x69 0110 1001 0x00 0000 0000 Not Used © Kionix 2012 Rev 1.0 Feb 2013 Page 6 of 15 AN 029 /ST11_2 0x6A 0110 1010 0x00 0000 0000 Not Used /ST12_2 0x6B 0110 1011 0x00 0000 0000 Not Used /ST13_2 0x6C 0110 1100 0x00 0000 0000 Not Used /ST14_2 0x6D 0110 1101 0x00 0000 0000 Not Used /ST15_2 0x6E 0110 1110 0x00 0000 0000 Not Used /ST16_2 0x6F 0110 1111 0x00 0000 0000 Not Used /TIM4_2 0x70 0111 0000 0x00 0000 0000 /TIM3_2 /TIM2_2 (LSB) /TIM2_2 (MSB) /TIM1_2 (LSB) /TIM1_2 (MSB) 0x71 0111 0001 0x00 0000 0000 0x72 0111 0010 0x05 0000 1010 0x73 0111 0011 0x00 0000 0000 0x74 0111 0100 0x00 0000 0000 0x75 0111 0101 0x00 0000 0000 /THRS2_2 0x76 0111 0110 0x0F 0000 0101 /THRS1_2 0x77 0111 0111 0x00 0000 0000 /DES2 0x78 0111 1000 0x00 0000 0000 /SA2 0x79 0111 1001 0x00 0000 0000 /MA2 0x7A 0111 1010 0xFC 1111 1100 /SETT2 Register Name Timer 2 = 5 (200 ms @ 25 Hz ODR) Threshold 2 = 5 (0.080 mg @ +/-2g range) +/-Vector length masked Use difference data and continue command proceeds 0x7B 0111 1011 0x11 0001 0001 (continue execution from reset point) Table 2: Implementation of Free-Fall in State Program 2 Address Hex Value Binary Hex Description Binary /CTRL1 0x1B 0001 1011 0x8D 1000 1101 Active mode, +/-2g range, 25 Hz ODR, and physical interrupt enabled /CTRL3 0x1D 0001 1101 0x09 0000 1001 State Program 2 interrupt routed to INT2 pin, and State Program 2 enabled /CTRL4 0x1E 0x50 0101 0000 Interrupt signal active high, INT2 signal is enabled, 0001 1110 Table 3: Control Register Settings © Kionix 2012 Rev 1.0 Feb 2013 Page 7 of 15 AN 029 Free-Fall Test Kionix’s USB Development Kit along with KXCNL accelerometer was used for collecting Free-Fall data. The USB Development Kit was dropped onto a table top from approximately 0.5 m height. This data was later used in debug mode to validate the free-fall algorithm coded in State Program 2 as shown in Figure 2 below. Figure 2: Free-Fall Signature © Kionix 2012 Rev 1.0 Feb 2013 Page 8 of 15 AN 029 Motion Detection Test Kionix’s USB Development Kit along with KXCNL accelerometer was used for collecting Motion data. This data was later used in debug mode to validate the motion detection algorithm coded in State Program 2 as shown in Figure 3 below. KXCNL Motion Interrupt 4 interrupt interrupt interrupt interrupt Output (G) 3 2 X(G) Y(G) 1 Z(G) 0 0 2 4 6 8 10 12 INT -1 -2 Time (seconds) Figure 3: Motion Detection Reliability of Algorithm Bias offset will affect the reliability of free-fall algorithm (Please refer to the qualification report for variation in 0g offset). This is why it is very important to perform 0g calibration whenever possible. 0g offset correction values can be directly applied to raw data by storing them into OFF_X, OFF_Y, and OFF_Z registers. Please refer to Application Note AN012 for ways to measure offset bias error. Placement It is important to note that the placement of the accelerometer within the target device can have a significant effect on free-fall and/or other algorithms running within the state machine. If reliable free-fall detection is desired, the ideal location of an accelerometer should be at the target device’s center of mass to minimize the effect of spin during free-fall event. Interrupt Release In latched mode, if the output source information is loaded into /OUTS2 register using OUTC command as shown in Table 1, interrupt can be released by simply reading the /OUTS2 register after an interrupt has fired. This will also clear the /OUTS2 register. If physical interrupts are not © Kionix 2012 Rev 1.0 Feb 2013 Page 9 of 15 AN 029 used, a polling mechanism can be devised, which checks the accelerometer output status bits in /STAT register. In this application note we are using State Program 2, therefore monitoring INT_SM2 bit will tell us whether or not State Program 2 has triggered a free-fall event. Again, by reading /OUTS2 register, interrupt information will be released/reset in /STAT register. Masking Each of the 4 axes (X, Y, Z and V) along with direction can be masked using /MA2 register. Note that to mask a particular axis along with direction, the bit associated with the particular axis and direction needs to be set to 0. To mask an entire axis, both possible directions for that axis will have to be set to 0. Timing Requirements There are several timing requirements that developers should keep in mind when working with the KXCNL. I²C Clock - The I²C Clock can be up to 3.4 MHz. Power Up to Communication - After the part is powered up, it takes 50ms before it is ready for I²C communication. Enable to Valid Outputs - After the part is enabled (PC1 bit in Control Register 1 is asserted), it takes 0.5ms before the acceleration outputs are valid. Software Reset/Power On Reset Delay - After a Software or Power On Reset, the part takes 50ms before it is ready for I²C communication. Troubleshooting All Interrupt Issues - Make sure the KXCNL is configured to issue interrupt signals in the way that your GPIO is programmed to handle them. - An oscilloscope on the physical interrupt pin can be a valuable tool to confirm physical interrupt operation. - Double check the main interrupt enable switch (IEN) bit in /CTRL1 register, Double check the routing of State Program 2 to INT2 pin (SM2_PIN) bit in Control Register 3, the total acceleration (vector) mask bit in /MA2 register, the interrupt enable for State Program 2 (INT2_EN) bit in /CTRL4 register. - The timer(s) are based on their respective Output Data Rates, so make sure the correct cycle time is used when calculating the expected timer length (please refer to the KXCNL product specification). State Program not Working - Make sure that State Program 2 is enabled, SM2_EN bit in /CTRL3 register. © Kionix 2012 Rev 1.0 Feb 2013 Page 10 of 15 AN 029 - Try increasing the threshold value in /THRS2_2 register and/or decreasing the stability timer value in /TIM2_2 register to ensure that the algorithm is working and that it is in fact the sensor data that is causing the State Program 2 not to fire an interrupt. Accelerometer USB Development Kit Kionix offers an Accelerometer USB Development Kit that can be used to quickly begin the development of applications and firmware that incorporate Kionix accelerometers including the KXCNL. The Development Kit provides a common interface to Kionix evaluation boards. For additional information regarding the development kit please refer to Kionix Application Firmware Development Kit users manual. Here is a brief description of the applications and utilities supported by the development kit – SensorScope This application allows the user to monitor data coming from the attached sensor. This data can be saved to a file or viewed in real time. With only two verification steps, the application will display a series of graphs representing acceleration with respect to time for each axis. This data can be used to measure the noise of the accelerometer by using the following steps: - Place the evaluation board on a flat surface in the desired orientation. To change the application settings, select Settings from the Edit menu. On this menu the following settings can be changed: - Sampling Rate - The rate at which the software queries the accelerometer for axis data. - Realtime Interval - The amount of data the software will buffer and display in real time. - Select the capture button. The application will begin to capture data immediately. Captured data is written to a file, and will not be viewable until after the capture has finished. The status bar is used to notify the user of a capture in progress. The application will continue to collect data until the user clicks the Stop button, or the resulting capture file has exceeded the file size limits (~1Gigabyte). We recommend collecting the data for at least 120 seconds. Captured data will be saved as a list of comma-separated values (.csv). Each entry in the list is comprised of a time, followed by the raw count for each axis (x, y, and z respectively). Select Save or Save As from the File menu to save the file. Open the saved file using Excel. Calculate the average of the samples. This gives the noise of the accelerometer in raw counts. - - SensorCalc This application allows the user to test and calculate the zero-g offset and sensitivity parameters of the accelerometer. Once the accelerometer is properly placed relative to the Earth’s gravity, simple mouse clicks initiate a series of test sequences that result in the display of raw-count data. SensorMap This application allows the user to read and write to specific registers of the accelerometer. The registers and their values are all displayed simultaneously on one color-coded grid. The Kionix Advantage © Kionix 2012 Rev 1.0 Feb 2013 Page 11 of 15 AN 029 Kionix technology provides for X, Y, and Z-axis sensing while providing the ability to autonomously analyze sensor data on a single, silicon chip. One accelerometer can be used to enable a variety of simultaneous features including, but not limited to: Hard Disk Drive protection Vibration analysis Tilt screen navigation Sports modeling Theft, man-down, accident alarm Image stability, screen orientation & scrolling Game playing Automatic sleep mode Theory of Operation Kionix MEMS linear tri-axis accelerometers function on the principle of differential capacitance. Acceleration causes displacement of a silicon structure resulting in a change in capacitance. A signalconditioning CMOS technology ASIC detects and transforms changes in capacitance into an analog output voltage, which is proportional to acceleration. These outputs can then be sent to a microcontroller for integration into various applications. For product summaries, specifications, and schematics, please refer to the Kionix MEMS accelerometer product sheets at http://www.kionix.com/sensors/accelerometer-products.php. © Kionix 2012 Rev 1.0 Feb 2013 Page 12 of 15 AN 029 Appendix 1.0 State Program OP Codes # Mnemonic Explanation 0h NOP No operation 1h TI1 Timer 1 valid 2h TI2 Timer 2 valid 3h TI3 Timer 3 valid 4h TI4 Timer 4 valid 5h 6h GNTH1 GNTH2 7h LNTH1 8h LNTH2 9h Ah GTTH1 LLTH2 Bh GRTH1 Ch LRTH1 Dh GRTH2 Eh LRTH2 Fh NZERO Any/triggered axis greater than threshold 1 Any/triggered axis greater than threshold 2 Any/triggered axis less than or equal to threshold 1 Any/triggered axis less than or equal to threshold 2 Any/triggered axis greater than threshold 1 All axis less than or equal to threshold 2 Any/triggered axis greater than to reversed threshold 1 Any/triggered axis less than or equal to reversed threshold 1 Any/triggered axis greater than to reversed threshold 2 Any/triggered axis less than or equal to reversed threshold 2 Any axis zero crossed Notes Execution moved to next or resetconditions in state Data samples are not evaluated Data samples are not evaluated Data samples are not evaluated Data samples are not evaluated First axis triggers First axis triggers First axis triggers First axis triggers First axis triggers First masked axis triggers First axis triggers First axis triggers First axis triggers First axis triggers Uses previous data samples sign First axis triggers Table 1. Conditions © Kionix 2012 Rev 1.0 Feb 2013 Page 13 of 15 AN 029 # Mnemonic 00h STOP 11h CONT 22h JMP 33h SRP 44h CRP 55h SETP 66h SETS1 77h STHR1 88h OUTC 99h OUTW AAh STHR2 BBh DEC CCh SISW DDh REL EEh STHR3 FFh SSYNC Explanation Stop execution, and resets resetpoint to start Continues execution from resetpoint Jump address for two Next conditions - 1st parameter is conditions - 2nd parameter are addresses for valid conditions Set reset-point to next address / state Clear reset-point to start position (to 1st address) Set parameter in register memory -1st is address of parameter - 2nd parameter is new parameter set to address Set new setting to Settings 1 register - 1st is new settings byte Set new value to /THRS1_y register - 1st is new settings byte Run Scope Notes Immediately Output also if enabled Immediately Output also if enabled Immediately for command & Sample for conditions Special (command and conditions) Immediately Immediately Immediately Address parameter is direct absolute pointer to register memory Immediately Immediately Set outputs to output registers Immediately output Set outputs to output registers and wait for latch reset from host Set new value to /THRS2_y register - 1st is new settings byte Decrease long counter -1 and validate counter Swaps sign information to opposite in mask and trigger Releases temporary output information Set new value to /THRS3 register - 1st is new settings byte Set synchronization point to other State program Immediately output and Wait (host) Host driven event Immediately Immediately Immediately Immediately Immediately Immediately and Wait (sync) Affects both State Programs Table 2. Commands © Kionix 2012 Rev 1.0 Feb 2013 Page 14 of 15 AN 029 # Mnemonic 12h SABS0 13h SABS1 14h SELMA 21h SRADI0 23h SRADI1 24h SELSA 31h SCS0 32h SCS1 34h STRAM0 41h STIM3 42h STIM4 43h SRTAM1 Explanation Run Scope Set /SETTy, bit ABS = 0. Select unsigned filter Set /SETTy, bit ABS = 1. Select signed filter ON Set /MASAy pointer to MAy (set MASAy = 0) Set /SETT2, bit RADI = 0. Select raw data mode Set /SETT2, bit RADI = 1. Select difference data mode Set /MASAy pointer to SAy (set MASAy = 1) Set /SETT2, bit D_CS = 0. Select DIFF data mode Set /SETT2, bit D_CS = 1. Select Constant Shift data mode Set /SETTy, bit R_TAM = 0. Temporary Axis Mask /TAMxAy is kept intact Set new value to /TIM3_y register - 1st is new settings byte Set new value to /TIM4_y register - 1st is new settings byte Set /SETTy, bit R_TAM = 1. Temporary Axis Mask /TAMxAy is released to default after every valid condition Notes Immediately Immediately Immediately Immediately Immediately Only for State Program 2* Only for State Program 2* Immediately Immediately Immediately Only for State Program 2* Only for State Program 2* Immediately Immediately Immediately Immediately Table 3. Commands (extended set) *Note: 21h, 23h, 31h, and 32h are forbidden with State Program 1. When a forbidden OP code exists in State Program y, it will immediately stop/halt (F_SMy_EM = 0). © Kionix 2012 Rev 1.0 Feb 2013 Page 15 of 15