AsahiKASEI
AKM
[AK09916]
015007392-E-02 2015/12
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1. General Description
AK09916 is 3-axis electronic compass IC with high sensitive Hall sensor technology.
Small package of AK09916 incorporates magnetic sensors for detecting terrestrial magnetism in the X-axis,
Y-axis, and Z-axis, a sensor driving circuit, signal amplifier chain, and an arithmetic circuit for processing
the signal from each sensor. Self-test function is also incorporated. From its compact foot print and thin
package feature, it is suitable for map heading up purpose in Smart phone to realize pedestrian navigation
function.
2. Features
Functions:
3-axis magnetometer device suitable for compass application
Built-in A to D Converter for magnetometer data out
16-bit data out for each 3-axis magnetic component
Sensitivity: 0.15 µT/LSB (typ.)
Serial interface
I2C bus interface
Standard and Fast modes compliant with Philips I2C specification Ver.2.1
Operation mode
Power-down, Single measurement, Continuous measurement and Self-test
DRDY function for measurement data ready
Magnetic sensor overflow monitor function
Built-in oscillator for internal clock source
Power on Reset circuit
Self-test function with internal magnetic source
Built-in magnetic sensitivity adjustment circuit
Operating temperatures:
-30˚C to +85˚C
Operating supply voltage:
+1.65V to +1.95V
Current consumption:
Power-down: 1 µA (typ.)
Measurement:
Average current consumption at 100 Hz repetition rate: 1.1mA (typ.)
Package:
AK09916C 5-pin WL-CSP (BGA): 1.2 mm 0.8 mm 0.5mm
AK09916
3-axis Electronic Compass
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
- 2 -
3. Table of Contents
1. General Description .................................................................................................................. 1
2. Features ..................................................................................................................................... 1
3. Table of Contents ...................................................................................................................... 2
4. Block Diagram and Functions ................................................................................................... 3
5. Pin Configurations and Functions ............................................................................................. 4
6. Absolute Maximum Ratings ...................................................................................................... 4
7. Recommended Operating Conditions ....................................................................................... 4
8. Electrical Characteristics ........................................................................................................... 5
8.1. DC Characteristics .............................................................................................................. 5
8.2. AC Characteristics .............................................................................................................. 6
8.3. Analog Circuit Characteristics ............................................................................................ 6
8.4. I2C Bus Interface ................................................................................................................ 7
9. Function Descriptions ............................................................................................................... 8
9.1. Power States ....................................................................................................................... 8
9.2. Reset Functions .................................................................................................................. 8
9.3. Operation Modes ................................................................................................................ 9
9.4. Description of Each Operation Mode ............................................................................... 10
Power-down Mode .................................................................................................... 10 9.4.1. Single Measurement Mode ........................................................................................ 10 9.4.2. Continuous Measurement Mode 1, 2, 3 and 4 ........................................................... 11 9.4.3. Self-test Mode............................................................................................................ 14 9.4.4.
10. Serial Interface ...................................................................................................................... 15
10.1. I2C Bus Interface ............................................................................................................ 15
Data Transfer ........................................................................................................... 15 10.1.1. WRITE Instruction .................................................................................................. 17
10.1.2. READ Instruction .................................................................................................... 18 10.1.3.
11. Registers ................................................................................................................................ 19
11.1. Description of Registers ................................................................................................. 19
11.2. Register Map .................................................................................................................. 20
11.3. Detailed Description of Register .................................................................................... 21
WIA: Who I Am ...................................................................................................... 21 11.3.1. RSV: Reserved register ............................................................................................ 21 11.3.2. ST1: Status 1 ............................................................................................................ 21 11.3.3. HXL to HZH: Measurement data ............................................................................ 22 11.3.4. TMPS: Dummy register ........................................................................................... 22 11.3.5. ST2: Status 2 ............................................................................................................ 23 11.3.6. CNTL1: Dummy register ......................................................................................... 23 11.3.7. CNTL2: Control 2 .................................................................................................... 23
11.3.8. CNTL3: Control 3 .................................................................................................... 24 11.3.9. TS1, TS2: Test register........................................................................................... 24 11.3.10.
12. Example of Recommended External Connection ................................................................. 25
13. Package ................................................................................................................................. 26
13.1. Marking .......................................................................................................................... 26
13.2. Pin Assignment ............................................................................................................... 26
13.3. Outline Dimensions ........................................................................................................ 27
13.4. Recommended Foot Print Pattern ................................................................................... 27
14. Relationship between the Magnetic Field and Output Code ................................................. 28
IMPORTANT NOTICE .............................................................................................................. 29
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
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4. Block Diagram and Functions
3-axis
Hall
sensor
MUX
SDA
Chopper
SW
HE-Drive
Pre-
AMP
Integrator＆ADC
Interface Logic
& Register
SCL
VDD
VREF
Timing
Control
OSC
Magnetic source
VSS
POR
TST
Block
Function
3-axis Hall sensor
Monolithic Hall elements.
MUX
Multiplexer for selecting Hall elements.
Chopper SW
Performs chopping.
HE-Drive
Magnetic sensor drive circuit for constant-current driving of sensor.
Pre-AMP
Fixed-gain differential amplifier used to amplify the magnetic sensor signal.
Integrator & ADC
Integrates and amplifies Pre-AMP output and performs analog-to-digital
conversion.
OSC
Generates an operating clock for sensor measurement.
POR
Power On Reset circuit. Generates reset signal on rising edge of VDD.
VREF
Generates reference voltage and current.
Interface Logic
&
Register
Exchanges data with an external CPU.
I2C bus interface using two pins, namely, SCL and SDA. Standard and Fast modes
are supported.
Timing Control
Generates a timing signal required for internal operation from a clock generated by
the OSC.
Magnetic Source
Generates magnetic field for Self-test of magnetic sensor.
AsahiKASEI
Parameter
Symbol
luiu.
Typ.
Max.
Unit
[AK09916]
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5. Pin Configurations and Functions
Pin No.
Pin name
I/O
Type
Function
A1
VSS
-
-
Ground pin.
A3
SCL
I
CMOS
Control data clock input pin.
Input: Schmidt trigger
B1
VDD
-
Power
Positive power supply pin.
B2
TST
I/O
CMOS
Test pin.
Connect to VSS or VDD or keep this pin non-connected.
B3
SDA
I/O
CMOS
Control data input/output pin.
Input: Schmidt trigger, Output: Open-drain
6. Absolute Maximum Ratings
Vss = 0V
Parameter
Symbol
Min.
Max.
Unit
Power supply voltage
Vdd
-0.3
+2.5
V
Input voltage
(except for power supply pin)
VIN
-0.3
+2.5
V
Input current
(except for power supply pin)
IIN
-
±10
mA
Storage temperature
Tst
-40
+125
˚C
If the device is used in conditions exceeding these values, the device may be destroyed. Normal operations are not
guaranteed in such exceeding conditions.
7. Recommended Operating Conditions
Vss = 0V
Parameter
Symbol
Min.
Typ.
Max.
Unit
Operating temperature
Ta
-30
+85
˚C
Power supply voltage
Vdd
1.65
1.8
1.95
V
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
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8. Electrical Characteristics
The following conditions apply unless otherwise noted:
Vdd = 1.65V to 1.95V, Temperature range = -30˚C to +85˚C.
8.1. DC Characteristics
Parameter
Symbol
Pin
Condition
Min.
Typ.
Max.
Unit
High level input voltage
VIH
SCL
SDA
70%Vdd
V
Low level input voltage
VIL
SCL
SDA
-0.3
30%Vdd
V
Input current
IIN
SCL
SDA
VIN = Vss or Vdd
-10
+10
µA
Hysteresis input voltage
(Note 1)
VHS
SCL
SDA
10%Vdd
V
Low level output voltage
(Note 2)
VOL
SDA
IOL ≤ +3mA
20%Vdd
V
Current consumption
(Note 3)
IDD1
VDD
Power-down mode
Vdd = 1.95V
1
3
µA
IDD2
When magnetic sensor
is driven
1.5
3
mA
IDD3
Self-test mode
2.5
4
mA
(Note 1) Schmitt trigger input (reference value for design)
(Note 2) Output is Open-drain. Connect a pull-up resistor externally. Maximum capacitive load: 400pF
(Capacitive load of each bus line for I2C bus interface).
(Note 3) Without any resistance load. It does not include the current consumed by external loads
(pull-down resister, etc.). SDA = SCL = Vdd or 0V.
AsahiKASEI
VDD
0V
PSINT
I...
[AK09916]
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8.2. AC Characteristics
Parameter
Symbol
Pin
Condition
Min.
Typ.
Max.
Unit
Power supply rise time
(Note 4)
PSUP
VDD
Period of time that VDD changes
from 0.2V to Vdd.
50
ms
POR completion time
(Note 4)
PORT
Period of time after PSUP to
Power-down mode (Note 5)
100
µs
Power supply turn off
voltage (Note 4)
SDV
VDD
Turn off voltage to enable POR to
restart (Note 5)
0.2
V
Power supply turn on
interval (Note 4)
PSINT
VDD
Period of time that voltage lower
than SDV needed to be kept to
enable POR to restart (Note 5)
100
µs
Wait time before mode
setting
Twait
100
µs
(Note 4) Reference value for design.
(Note 5) When POR circuit detects the rise of VDD voltage, it resets internal circuits and initializes the
registers. After reset, AK09916 transits to Power-down mode.
8.3. Analog Circuit Characteristics
Parameter
Symbol
Condition
Min.
Typ.
Max.
Unit
Measurement data output bit
DBIT
-
16
-
bit
Time for measurement
TSM
Single measurement mode
7.2
8.2
ms
Magnetic sensor sensitivity
BSE
Ta = 25 ˚C
0.1425
0.15
0.1575
µT/LSB
Magnetic sensor measurement range
(Note 6)
BRG
Ta = 25 ˚C
±4670
±4912
±5160
µT
Magnetic sensor initial offset
(Note 7)
Ta = 25 ˚C
-2000
+2000
LSB
(Note 6) Reference value for design
(Note 7) Value of measurement data register on shipment test without applying magnetic field on purpose.
0V
PSINT
PSUP
PORT
Power-down mode
SDV
VDD
Power-down mode
[AK09916]
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8.4. I2C Bus Interface
I2C bus interface is compliant with Standard mode and Fast mode. Standard/Fast mode is selected
automatically by fSCL.
Standard mode
fSCL ≤ 100kHz
Symbol
Parameter
Min.
Typ.
Max.
Unit
fSCL
SCL clock frequency
100
kHz
tHIGH
SCL clock “High” time
4.0
s
tLOW
SCL clock “Low” time
4.7
s
tR
SDA and SCL rise time
1.0
s
tF
SDA and SCL fall time
0.3
s
tHD:STA
Start Condition hold time
4.0
s
tSU:STA
Start Condition setup time
4.7
s
tHD:DAT
SDA hold time (vs. SCL falling edge)
0
s
tSU:DAT
SDA setup time (vs. SCL rising edge)
250
ns
tSU:STO
Stop Condition setup time
4.0
s
tBUF
Bus free time
4.7
s
Fast mode
100kHz ≤ fSCL ≤ 400kHz
Symbol
Parameter
Min.
Typ.
Max.
Unit
fSCL
SCL clock frequency
400
kHz
tHIGH
SCL clock “High” time
0.6
s
tLOW
SCL clock “Low” time
1.3
s
tR
SDA and SCL rise time
0.3
s
tF
SDA and SCL fall time
0.3
s
tHD:STA
Start Condition hold time
0.6
s
tSU:STA
Start Condition setup time
0.6
s
tHD:DAT
SDA hold time (vs. SCL falling edge)
0
s
tSU:DAT
SDA setup time (vs. SCL rising edge)
100
ns
tSU:STO
Stop Condition setup time
0.6
s
tBUF
Bus free time
1.3
s
tSP
Noise suppression pulse width
50
ns
[I2C bus interface timing]
tHIGH
SCL
SDA
VIH
tLOW
tBUF
tHD:STA
tR
tF
tHD:DAT
tSU:DAT
tSU:STA
Stop
Start
Start
Stop
tSU:STO
VIL
VIH
VIL
tSP
SCL
VIH
VIL
1/fSCL
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
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9. Function Descriptions
9.1. Power States
When VDD is turned on from Vdd = OFF (0V), all registers in AK09916 are initialized by POR circuit and
AK09916 transits to Power-down mode.
Table 9.1. Power state
State
VDD
Power state
1
OFF (0V)
OFF
It doesn’t affect external interface.
2
1.65V to 1.95V
ON
9.2. Reset Functions
Power on Reset (POR) works until Vdd reaches to the operation effective voltage (about 1.1V: reference
value for design) on power-on sequence. After POR is completed, all registers are initialized and AK09916
transits to Power-down mode.
When Vdd = 1.65 to 1.95V, POR circuit is active.
AK09916 has two types of reset;
(1) Power on Reset (POR)
When Vdd rise is detected, POR circuit operates, and AK09916 is reset.
(2) Soft reset
AK09916 is reset by setting SRST bit. When AK09916 is reset, all registers are initialized and
AK09916 transits to Power-down mode.
AsahiKASEI
MODE[4:O] : “00001 "
MODE[4:O] : “00000"
Transws aulomallcally
¢ ______________
MODE[4:O] : “0001 0"
MODE[4:O] : “00000"
MODE[4:O] : “00100"
MODE[4:O] : “00000"
MODE[4:O] : “001 10"
MODE[4‘O] 7 “00000"
<— mode[4:o]="" :="" “01000"="" mode[4:o]="" :="" “00000"="" mode[4:o]="" :="" “10000"="" mode[4:o]="" :="" “00000"="" tmnsws="" aulomallcally=""> [AK09916]
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9.3. Operation Modes
AK09916 has following seven operation modes:
(1) Power-down mode
(2) Single measurement mode
(3) Continuous measurement mode 1
(4) Continuous measurement mode 2
(5) Continuous measurement mode 3
(6) Continuous measurement mode 4
(7) Self-test mode
By setting CNTL2 register MODE[4:0] bits, the operation set for each mode is started.
A transition from one mode to another is shown below.
MODE[4:0] = “00001”
MODE[4:0] = “00000”
Transits automatically
MODE[4:0] = “00010”
MODE[4:0] = “00000”
MODE[4:0] = “00100”
MODE[4:0] = “00000”
MODE[4:0] = “00110”
MODE[4:0] = “00000”
MODE[4:0] = “01000”
MODE[4:0] = “00000”
MODE[4:0] = “10000”
MODE[4:0] = “00000”
Transits automatically
Power-down
mode
Continuous measurement mode 2
Sensor is measured periodically in 20Hz.
Transits to Power-down mode by writing
MODE[4:0] =“00000”.
Self-test mode
Sensor is self-tested and the result is output.
Transits to Power-down mode automatically.
Single measurement mode
Sensor is measured for one time and data is output.
Transits to Power-down mode automatically after
measurement ended.
Continuous measurement mode 1
Sensor is measured periodically in 10Hz.
Transits to Power-down mode by writing
MODE[4:0] = “00000”.
Continuous measurement mode 3
Sensor is measured periodically in 50Hz.
Transits to Power-down mode by writing
MODE[4:0] = “00000”.
Continuous measurement mode 4
Sensor is measured periodically in 100Hz.
Transits to Power-down mode by writing
MODE[4:0] = “00000”.
Figure 9.1. Operation mode
When power is turned ON, AK09916 is in Power-down mode. When a specified value is set to MODE[4:0]
bits, AK09916 transits to the specified mode and starts operation. When user wants to change operation
mode, transit to Power-down mode first and then transit to other modes. After Power-down mode is set, at
least 100 s (Twait) is needed before setting another mode
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suEremenaté
Pie
[AK09916]
015007392-E-02 2015/12
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9.4. Description of Each Operation Mode
Power-down Mode 9.4.1.
Power to almost all internal circuits is turned off. All registers are accessible in Power-down mode. Data
stored in read/write registers are remained. They can be reset by soft reset.
Single Measurement Mode 9.4.2.
When Single measurement mode (MODE[4:0] bits = “00001”) is set, magnetic sensor measurement is
started. After magnetic sensor measurement and signal processing is finished, measurement magnetic data is
stored to measurement data registers (HXL to HZH), then AK09916 transits to Power-down mode
automatically. On transition to Power-down mode, MODE[4:0] bits turns to “00000”. At the same time,
DRDY bit in ST1 register turns to “1”. This is called “Data Ready”. When any of measurement data register
(HXL to TMPS) or ST2 register is read, DRDY bit turns to “0”. It remains “1” on transition from
Power-down mode to another mode. (Figure 9.2. )
When sensor is measuring (Measurement period), measurement data registers (HXL to TMPS) keep the
previous data. Therefore, it is possible to read out data even in measurement period. Data read out in
measurement period are previous data.(Figure 9.3. )
Operation Mode: Single measuremnet
Power-down (1) (2) (3)
Measurement period
Measurement Data Register
Last Data Measurement Data (1) Data(2) Data(3)
DRDY
Data read Data(1) Data(3)
Register Write MODE[4:0]="00001" MODE[4:0]="00001" MODE[4:0]="00001"
Figure 9.2. Single measurement mode when data is read out of measurement period
Operation Mode: Single measuremnet
Power-down (1) (2) (3)
Measurement period
Measurement Data Register
Last Data Measurement Data (1) Data(3)
DRDY
Data read Data(1)
Register Write MODE[4:0]="00001" MODE[4:0]="00001" MODE[4:0]="00001"
Figure 9.3. Single measurement mode when data read started during measurement period
AsahiKASEI
‘0HL20HLSOHZ or TOOHZ
[AK09916]
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Continuous Measurement Mode 1, 2, 3 and 4
9.4.3.
When Continuous measurement mode 1 (MODE[4:0] bits = “00010”), 2 (MODE[4:0] bits = “00100”), 3
(MODE[4:0] bits = “00110”) or 4 (MODE[4:0] bits = “01000”) is set, magnetic sensor measurement is
started periodically at 10 Hz, 20 Hz, 50 Hz or 100 Hz respectively. After magnetic sensor measurement and
signal processing is finished, measurement magnetic data is stored to measurement data registers (HXL to
HZH) and all circuits except for the minimum circuit required for counting cycle length are turned off (PD).
When the next measurement timing comes, AK09916 wakes up automatically from PD and starts
measurement again.
Continuous measurement mode ends when Power-down mode (MODE[4:0] bits = “00000”) is set. It repeats
measurement until Power-down mode is set.
When Continuous measurement mode 1 (MODE[4:0] bits = “00010”), 2 (MODE[4:0] bits = “00100”), 3
(MODE[4:0] bits = “00110”) or 4 (MODE[4:0] bits = “01000”) is set again while AK09916 is already in
Continuous measurement mode, a new measurement starts. ST1, ST2 and measurement data registers (HXL
to TMPS) will not be initialized by this.
(N-1)th Nth (N+1)th
PD Measurement PD Measurement PD
10Hz,20Hz,50Hz or 100Hz
Figure 9.4. Continuous measurement mode
9.4.3.1. Data Ready
When measurement data is stored and ready to be read, DRDY bit in ST1 register turns to “1”. This is called
“Data Ready”. When measurement is performed correctly, AK09916 becomes Data Ready on transition to
PD after measurement.
9.4.3.2. Normal Read Sequence
(1) Check Data Ready or not by polling DRDY bit of ST1 register
DRDY: Shows Data Ready or not. Not when “0”, Data Ready when “1”.
DOR: Shows if any data has been skipped before the current data or not. There are no skipped
data when “0”, there are skipped data when “1”.
(2) Read measurement data
When any of measurement data register (HXL to TMPS) or ST2 register is read, AK09916 judges
that data reading is started. When data reading is started, DRDY bit and DOR bit turns to “0”.
(3) Read ST2 register (required)
HOFL: Shows if magnetic sensor is overflowed or not. “0” means not overflowed, “1” means
overflowed.
When ST2 register is read, AK09916 judges that data reading is finished. Stored measurement data is
protected during data reading and data is not updated. By reading ST2 register, this protection is
released. It is required to read ST2 register after data reading.
(N-1)th Nth (N+1)th
PD Measurement PD Measurement PD
Measurement Data Register
(N-1)th Nth (N+1)th
DRDY
Data read ST1 Data(N) ST2 ST1 Data(N+1) ST2
Figure 9.5. Normal read sequence
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[AK09916]
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9.4.3.3. Data Read Start during Measurement
When sensor is measuring (Measurement period), measurement data registers (HXL to TMPS) keep the
previous data. Therefore, it is possible to read out data even in measurement period. If data is started to be
read during measurement period, previous data is read.
(N-1)th Nth (N+1)th
PD Measurement PD Measurement PD
Measurement Data Register
(N-1)th Nth
DRDY
Data read ST1 Data(N) ST2 ST1 Data(N) ST2
Figure 9.6. Data read start during measurement
9.4.3.4. Data Skip
When Nth data was not read before (N+1)th measurement ends, Data Ready remains until data is read. In
this case, a set of measurement data is skipped so that DOR bit turns to “1”.
When data reading started after Nth measurement ended and did not finish reading before (N+1)th
measurement ended, Nth measurement data is protected to keep correct data. In this case, a set of
measurement data is skipped and not stored so that DOR bit turns to “1”.
In both case, DOR bit turns to “0” at the next start of data reading.
(N-1)th Nth (N+1)th
PD Measurement PD Measurement PD
Measurement Data Register
(N-1)th Nth (N+1)th
DRDY
DOR
Data read ST1 Data(N+1) ST2
Figure 9.7. Data Skip: When data is not read
AsahiKASEI
[AK09916]
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(N-1)th Nth (N+1)th (N+2)th
PD Measurement PD Measurement PD Measurement PD
Measurement Data Register
(N-1)th Nth (N+2)th
Data register is protected
because data is being read
Not data ready
DRDY because data is not updated
(N+1)th data is skipped
DOR
Data read ST1 DataN ST2 ST1 Data(N+2)
Figure 9.8. Data Skip: When data read has not been finished before the next measurement end
9.4.3.5. End Operation
Set Power-down mode (MODE[4:0] bits = “00000”) to end Continuous measurement mode.
9.4.3.6. Magnetic Sensor Overflow
AK09916 has the limitation for measurement range that the sum of absolute values of each axis should be
smaller than 4912 μT. (Note 8)
|X|+|Y|+|Z| < 4912 μT
When the magnetic field exceeded this limitation, data stored at measurement data are not correct. This is
called Magnetic Sensor Overflow.
When magnetic sensor overflow occurs, HOFL bit turns to “1”.
When measurement data register (HXL to HZH) is updated, HOFL bit is updated.
(Note 8) BRG: 0.15μT/LSB
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[AK09916]
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Self-test Mode
9.4.4.
Self-test mode is used to check if the magnetic sensor is working normally.
When Self-test mode (MODE[4:0] bits = “10000”) is set, magnetic field is generated by the internal
magnetic source and magnetic sensor is measured. Measurement data is stored to measurement data registers
(HXL to HZH), then AK09916 transits to Power-down mode automatically.
Data read sequence and functions of read-only registers in Self-test mode is the same as Single measurement
mode.
9.4.4.1. Self-test Sequence
(1) Set Power-down mode. (MODE[4:0] bits = “00000”)
(2) Set Self-test mode. (MODE[4:0] bits = “10000”)
(3) Check Data Ready or not by polling DRDY bit of ST1 register.
When Data Ready, proceed to the next step.
(4) Read measurement data. (HXL to HZH)
9.4.4.2. Self-test Judgment
When measurement data read by the above sequence is in the range of following table, AK09916 is working
normally.
HX[15:0] bits
HY[15:0] bits
HZ[15:0] bits
Criteria
-200 ≤ HX ≤ 200
-200 ≤ HY ≤ 200
-1000 ≤ HZ ≤ -200
AsahiKASEI
[AK09916]
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10. Serial Interface
10.1. I2C Bus Interface
The I2C bus interface of AK09916 supports the Standard mode (100 kHz max.) and the Fast mode (400 kHz
max.).
Data Transfer 10.1.1.
To access AK09916 on the bus, generate a start condition first.
Next, transmit a one-byte slave address including a device address. At this time, AK09916 compares the
slave address with its own address. If these addresses match, AK09916 generates an acknowledgement, and
then executes READ or WRITE instruction. At the end of instruction execution, generate a stop condition.
10.1.1.1. Change of Data
A change of data on the SDA line must be made during “Low” period of the clock on the SCL line. When
the clock signal on the SCL line is “High”, the state of the SDA line must be stable. (Data on the SDA line
can be changed only when the clock signal on the SCL line is “Low”.)
During the SCL line is “High”, the state of data on the SDA line is changed only when a start condition or a
stop condition is generated.
Figure 10.1. Data Change
10.1.1.2. Start/Stop Condition
If the SDA line is driven to “Low” from “High” when the SCL line is “High”, a start condition is generated.
Every instruction starts with a start condition.
If the SDA line is driven to “High” from “Low” when the SCL line is “High”, a stop condition is generated.
Every instruction stops with a stop condition.
SCL
SDA
STOP CONDITION
START CONDITION
Figure 10.2. Start and Stop Condition
SCL
SDA
DATA LINE
STABLE :
DATA VALID
CHANGE
OF DATA
ALLOWED
AsahiKASEI
[AK09916]
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10.1.1.3. Acknowledge
The IC that is transmitting data releases the SDA line (in the “High” state) after sending 1-byte data.
The IC that receives the data drives the SDA line to “Low” on the next clock pulse. This operation is referred
as acknowledge. With this operation, whether data has been transferred successfully can be checked.
AK09916 generates an acknowledge after reception of a start condition and slave address.
When a WRITE instruction is executed, AK09916 generates an acknowledge after every byte is received.
When a READ instruction is executed, AK09916 generates an acknowledge then transfers the data stored at
the specified address. Next, AK09916 releases the SDA line then monitors the SDA line. If a master IC
generates an acknowledge instead of a stop condition, AK09916 transmits the 8bit data stored at the next
address. If no acknowledge is generated, AK09916 stops data transmission.
SCL FROM
MASTER
acknowledge
DATA
OUTPUT BY
TRANSMITTER
DATA
OUTPUT BY
RECEIVER
1
9
8
START
CONDITION
Clock pulse
for acknowledge
not acknowledge
Figure 10.3. Generation of Acknowledge
10.1.1.4. Slave Address
The slave address of AK09916 is 0Ch.
MSB LSB
0
0
0
1
1
0
0
R/W
Figure 10.4. Slave Address
The first byte including a slave address is transmitted after a start condition, and an IC to be accessed is
selected from the ICs on the bus according to the slave address.
When a slave address is transferred, the IC whose device address matches the transferred slave address
generates an acknowledge then executes an instruction. The 8th bit (least significant bit) of the first byte is a
R/W bit.
When the R/W bit is set to “1”, READ instruction is executed. When the R/W bit is set to “0”, WRITE
instruction is executed.
AsahiKASEI
IH [AK09916]
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WRITE Instruction
10.1.2.
When the R/W bit is set to “0”, AK09916 performs write operation.
In write operation, AK09916 generates an acknowledge after receiving a start condition and the first byte
(slave address) then receives the second byte. The second byte is used to specify the address of an internal
control register and is based on the MSB-first configuration.
MSB LSB
A7
A6
A5
A4
A3
A2
A1
A0
Figure 10.5. Register Address
After receiving the second byte (register address), AK09916 generates an acknowledge then receives the
third byte.
The third and the following bytes represent control data. Control data consists of 8 bits and is based on the
MSB-first configuration. AK09916 generates an acknowledge after every byte is received. Data transfer
always stops with a stop condition generated by the master.
MSB LSB
D7
D6
D5
D4
D3
D2
D1
D0
Figure 10.6. Control Data
AK09916 can write multiple bytes of data at a time.
After reception of the third byte (control data), AK09916 generates an acknowledge then receives the next
data. If additional data is received instead of a stop condition after receiving one byte of data, the address
counter inside the LSI chip is automatically incremented and the data is written at the next address.
The address is incremented from 00h to 18h, from 30h to 32h. When the address is 00h to 18h, the address is
incremented 00h 01h 02h 03h 10h 11h ... 18h,and the address goes back to 00h after
18H. When the address is 30h to 32h, the address goes back to 30h after 32h.
Actual data is written only to Read/Write registers (Table 11.2. ).
SDA
S
T
A
R
T
A
C
K
A
C
K
S
Slave
Address
A
C
K
Register
Address(n)
Data(n)
P
S
T
O
P
Data(n+x)
A
C
K
Data(n+1)
A
C
K
A
C
K
R/W="0"
Figure 10.7. WRITE Instruction
AsahiKASEI
SDA ‘
[AK09916]
015007392-E-02 2015/12
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READ Instruction
10.1.3.
When the R/W bit is set to “1”, AK09916 performs read operation.
If a master IC generates an acknowledge instead of a stop condition after AK09916 transfers the data at a
specified address, the data at the next address can be read.
Address can be 00h to 18h, 30h to 32h. When the address is 00h to 18h, the address is incremented 00h
01h 02h 03h 10h 11h ... 18h, and the address goes back to 00h after 18h. When the address
is 30h to 32h, the address goes back to 30h after 32h. AK09916 supports current address read and random
address read.
10.1.3.1. Current Address READ
AK09916 has an address counter inside the LSI chip. In current address read operation, the data at an address
specified by this counter is read.
The internal address counter holds the next address of the most recently accessed address.
For example, if the address most recently accessed (for READ instruction) is address “n”, and a current
address read operation is attempted, the data at address “n+1” is read.
In current address read operation, AK09916 generates an acknowledge after receiving a slave address for the
READ instruction (R/W bit = “1”). Next, AK09916 transfers the data specified by the internal address
counter starting with the next clock pulse, then increments the internal counter by one. If the master IC
generates a stop condition instead of an acknowledge after AK09916 transmits one byte of data, the read
operation stops.
SDA
S
T
A
R
T
A
C
K
A
C
K
S
Slave
Address
A
C
K
Data(n+1)
Data(n+2)
P
S
T
O
P
Data(n+x)
A
C
K
Data(n+3)
A
C
K
R/W="1"
Figure 10.8. Current Address READ
10.1.3.2. Random Address READ
By random address read operation, data at an arbitrary address can be read.
The random address read operation requires to execute WRITE instruction as dummy before a slave address
for the READ instruction (R/W bit = “1”) is transmitted. In random read operation, a start condition is first
generated then a slave address for the WRITE instruction (R/W bit = “0”) and a read address are transmitted
sequentially.
After AK09916 generates an acknowledge in response to this address transmission, a start condition and a
slave address for the READ instruction (R/W bit = “1”) are generated again. AK09916 generates an
acknowledge in response to this slave address transmission. Next, AK09916 transfers the data at the
specified address then increments the internal address counter by one. If the master IC generates a stop
condition instead of an acknowledge after data is transferred, the read operation stops.
SDA
S
T
A
R
T
A
C
K
A
C
K
S
Slave
Address
A
C
K
Register
Address(n)
Data(n)
P
S
T
O
P
Data(n+x)
A
C
K
Data(n+1)
A
C
K
R/W="0"
S
T
A
R
T
A
C
K
S
Slave
Address
R/W="1"
Figure 10.9. Random Address READ
AsahiKASEI
[AK09916]
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11. Registers
11.1. Description of Registers
AK09916 has registers of 18 addresses as indicated in Table 11.1. . Every address consists of 8 bits data.
Data is transferred to or received from the external CPU via the serial interface described previously.
Table 11.1. Register Table
Name
Address
READ/
WRITE
Description
Bit
width
Remarks
WIA1
00h
READ
Company ID
8
WIA2
01h
READ
Device ID
8
RSV1
02h
READ
Reserved 1
8
RSV2
03h
READ
Reserved 2
8
ST1
10h
READ
Status 1
8
Data status
HXL
11h
READ
Measurement Magnetic Data
8
X-axis data
HXH
12h
READ
8
HYL
13h
READ
8
Y-axis data
HYH
14h
READ
8
HZL
15h
READ
8
Z-axis data
HZH
16h
READ
8
TMPS
17h
READ
Dummy
8
Dummy
ST2
18h
READ
Status 2
8
Data status
CNTL1
30h
READ/
WRITE
Dummy
8
Dummy
CNTL2
31h
READ/
WRITE
Control 2
8
Control settings
CNTL3
32h
READ/
WRITE
Control 3
8
Control settings
TS1
33h
READ/
WRITE
Test
8
DO NOT ACCESS
TS2
34h
READ/
WRITE
Test
8
DO NOT ACCESS
Addresses 00h to 18h, 30h to 32h are compliant with automatic increment function of serial interface
respectively. In other modes, read data is not correct. When the address is in 00h to 18h, the address is
incremented 00h 01h 02h 03h 10h 11h ... 18h, and the address goes back to 00h after
18h. When the address is in 30h to 32h, the address goes back to 30h after 32h.
AsahiKASEI
name
[AK09916]
015007392-E-02 2015/12
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11.2. Register Map
Table 11.2. Register Map
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
00h
WIA1
0
1
0
0
1
0
0
0
01h
WIA2
0
0
0
0
1
0
0
1
02h
RSV1
RSV17
RSV16
RSV15
RSV14
RSV13
RSV12
RSV11
RSV10
03h
RSV2
RSV27
RSV26
RSV25
RSV24
RSV23
RSV22
RSV21
RSV20
10h
ST1
0
0
0
0
0
0
DOR
DRDY
11h
HXL
HX7
HX6
HX5
HX4
HX3
HX2
HX1
HX0
12h
HXH
HX15
HX14
HX13
HX12
HX11
HX10
HX9
HX8
13h
HYL
HY7
HY6
HY5
HY4
HY3
HY2
HY1
HY0
14h
HYH
HY15
HY14
HY13
HY12
HY11
HY10
HY9
HY8
15h
HZL
HZ7
HZ6
HZ5
HZ4
HZ3
HZ2
HZ1
HZ0
16h
HZH
HZ15
HZ14
HZ13
HZ12
HZ11
HZ10
HZ9
HZ8
17h
TMPS
0
0
0
0
0
0
0
0
18h
ST2
0
RSV30
RSV29
RSV28
HOFL
0
0
0
Read/Write register
30h
CNTL1
0
0
0
0
0
0
0
0
31h
CNTL2
0
0
0
MODE4
MODE3
MODE2
MODE1
MODE0
32h
CNTL3
0
0
0
0
0
0
0
SRST
33h
TS1
-
-
-
-
-
-
-
-
34h
TS2
-
-
-
-
-
-
-
-
When VDD is turned ON, POR function works and all registers of AK09916 are initialized.
TS1 and TS2 are test registers for shipment test. Do not access these registers.
AsahiKASEI
[AK09916]
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11.3. Detailed Description of Register
WIA: Who I Am 11.3.1.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
00h
WIA1
0
1
0
0
1
0
0
0
01h
WIA2
0
0
0
0
1
0
0
1
WIA1[7:0] bits: Company ID of AKM. It is described in one byte and fixed value.
48h: fixed
WIA2[7:0] bits: Device ID of AK09916. It is described in one byte and fixed value.
09h: fixed
RSV: Reserved 11.3.2.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
02h
RSV1
RSV17
RSV16
RSV15
RSV14
RSV13
RSV12
RSV11
RSV10
03h
RSV2
RSV27
RSV26
RSV25
RSV24
RSV23
RSV22
RSV21
RSV20
RSV1[7:0] bits/ RSV2[7:0] bits: Reserved register for AKM.
ST1: Status 1 11.3.3.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
10h
ST1
0
0
0
0
0
0
DOR
DRDY
Reset
0
0
0
0
0
0
0
0
DRDY: Data Ready
“0”: Normal
“1”: Data is ready
DRDY bit turns to “1” when data is ready in Single measurement mode, Continuous measurement mode 1, 2,
3, 4 or Self-test mode. It returns to “0” when any one of ST2 register or measurement data register (HXL to
TMPS) is read.
DOR: Data Overrun
“0”: Normal
“1”: Data overrun
DOR bit turns to “1” when data has been skipped in Continuous measurement mode 1, 2, 3, 4. It returns to “0”
when any one of ST2 register or measurement data register (HXL to TMPS) is read.
AsahiKASEI
Decimal
[AK09916]
015007392-E-02 2015/12
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HXL to HZH: Measurement Magnetic data
11.3.4.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
11h
HXL
HX7
HX6
HX5
HX4
HX3
HX2
HX1
HX0
12h
HXH
HX15
HX14
HX13
HX12
HX11
HX10
HX9
HX8
13h
HYL
HY7
HY6
HY5
HY4
HY3
HY2
HY1
HY0
14h
HYH
HY15
HY14
HY13
HY12
HY11
HY10
HY9
HY8
15h
HZL
HZ7
HZ6
HZ5
HZ4
HZ3
HZ2
HZ1
HZ0
16h
HZH
HZ15
HZ14
HZ13
HZ12
HZ11
HZ10
HZ9
HZ8
Reset
0
0
0
0
0
0
0
0
Measurement data of magnetic sensor X-axis/Y-axis/Z-axis
HXL[7:0] bits: X-axis measurement data lower 8-bit
HXH[15:8] bits: X-axis measurement data higher 8-bit
HYL[7:0] bits: Y-axis measurement data lower 8-bit
HYH[15:8] bits: Y-axis measurement data higher 8-bit
HZL[7:0] bits: Z-axis measurement data lower 8-bit
HZH[15:8] bits: Z-axis measurement data higher 8-bit
Measurement data is stored in two’s complement and Little Endian format. Measurement range of each axis
is -32752 to 32752 in 16-bit output.
Table 11.3. Measurement magnetic data format
Measurement data (each axis) [15:0] bits
Magnetic flux
density [µＴ]
Two’s complement
Hex
Decimal
0111 1111 1111 0000
7FF0
32752
4912(max.)
|
|
|
|
0000 0000 0000 0001
0001
1
0.15
0000 0000 0000 0000
0000
0
0
1111 1111 1111 1111
FFFF
-1
-0.15
|
|
|
|
1000 0000 0001 0000
8010
-32752
-4912(min.)
TMPS: Dummy 11.3.5.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
17h
TMPS
0
0
0
0
0
0
0
0
Reset
0
0
0
0
0
0
0
0
TMPS[7:0] bits: Dummy register.
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
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ST2: Status 2
11.3.6.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read-only register
18h
ST2
0
RSV30
RSV29
RSV28
HOFL
0
0
0
Reset
0
0
0
0
0
0
0
0
ST2[6:4] bits: Reserved register for AKM.
HOFL: Magnetic sensor overflow
“0”: Normal
“1”: Magnetic sensor overflow occurred
In Single measurement mode, Continuous measurement mode 1, 2, 3, 4, and Self-test mode, magnetic sensor
may overflow even though measurement data register is not saturated. In this case, measurement data is not
correct and HOFL bit turns to “1”. When measurement data register is updated, HOFL bit is updated. Refer
to 9.4.3.6 for detailed information.
ST2 register has a role as data reading end register, also. When any of measurement data register (HXL to
TMPS) is read in Continuous measurement mode 1, 2, 3, 4, it means data reading start and taken as data
reading until ST2 register is read. Therefore, when any of measurement data is read, be sure to read ST2
register at the end.
CNTL1: Dummy 11.3.7.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read/Write register
30h
CNTL1
0
0
0
0
0
0
0
0
Reset
0
0
0
0
0
0
0
0
CNTL1[7:0] bits: Dummy register.
CNTL2: Control 2 11.3.8.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read/Write register
31h
CNTL2
0
0
0
MODE4
MODE3
MODE2
MODE1
MODE0
Reset
0
0
0
0
0
0
0
0
MODE[4:0] bits: Operation mode setting
“00000”: Power-down mode
“00001”: Single measurement mode
“00010”: Continuous measurement mode 1
“00100”: Continuous measurement mode 2
“00110”: Continuous measurement mode 3
“01000”: Continuous measurement mode 4
“10000”: Self-test mode
Other code settings are prohibited
.
When each mode is set, AK09916 transits to the set mode. Refer to 9.3 for detailed information.
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
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CNTL3: Control 3
11.3.9.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read/Write register
32h
CNTL3
0
0
0
0
0
0
0
SRST
Reset
0
0
0
0
0
0
0
0
SRST: Soft reset
“0”: Normal
“1”: Reset
When “1” is set, all registers are initialized. After reset, SRST bit turns to “0” automatically.
TS1, TS2: Test 11.3.10.
Addr.
Register
name
D7
D6
D5
D4
D3
D2
D1
D0
Read/Write register
33h
TS1
-
-
-
-
-
-
-
-
34h
TS2
-
-
-
-
-
-
-
-
Reset
0
0
0
0
0
0
0
0
TS1 and TS2 registers are AKM internal test register. Do not access these registers.
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
- 25 -
12. Example of Recommended External Connection
AK09916C
(Top view)
Host CPU
I2C I/F
Power for I/F
VDD
POWER 1.65V to 1.95V
0.1µF
3 2 1
VDD
VSS
SDA
SCL
TST
B
A
VSS
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
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13. Package
13.1. Marking
Product name: 16
Date code: X1X2X3X4X5
X1 = ID
X2 = Year code
X3 = Month code
X4X5 = Lot
13.2. Pin Assignment
3
2
1
B
SDA
TST
VDD
A
SCL
VSS
<Top view>
16 X1
X2X3 X4X5
<Top view>
AsahiKASEI
,,,,,,,,,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,
[AK09916]
015007392-E-02 2015/12
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13.3. Outline Dimensions [mm]
13.4. Recommended Foot Print Pattern
[mm]
<Top view>
0.03 C
0.583 max.
C
0.40
0.147
0.4
0.4
0.8
0.4
+0.03
0.22-0.01
3 2 1
1.180.03
0.780.03
B
A
1 2 3
0.4
0.4
0.21
3 2 1
B
A
[AK09916]
015007392-E-02 2015/12
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14. Relationship between the Magnetic Field and Output Code
The measurement data increases as the magnetic flux density increases in the arrow directions.
Y
Z
X
AsahiKASEI
[AK09916]
015007392-E-02 2015/12
- 29 -
IMPORTANT NOTICE
0. Asahi Kasei Microdevices Corporation (“AKM”) reserves the right to make changes to the information
contained in this document without notice. When you consider any use or application of AKM product
stipulated in this document (“Product”), please make inquiries the sales office of AKM or authorized
distributors as to current status of the Products.
1. All information included in this document are provided only to illustrate the operation and application
examples of AKM Products. AKM neither makes warranties or representations with respect to the
accuracy or completeness of the information contained in this document nor grants any license to any
intellectual property rights or any other rights of AKM or any third party with respect to the information
in this document. You are fully responsible for use of such information contained in this document in
your product design or applications. AKM ASSUMES NO LIABILITY FOR ANY LOSSES
INCURRED BY YOU OR THIRD PARTIES ARISING FROM THE USE OF SUCH INFORMATION
IN YOUR PRODUCT DESIGN OR APPLICATIONS.
2. The Product is neither intended nor warranted for use in equipment or systems that require extraordinarily
high levels of quality and/or reliability and/or a malfunction or failure of which may cause loss of human
life, bodily injury, serious property damage or serious public impact, including but not limited to,
equipment used in nuclear facilities, equipment used in the aerospace industry, medical equipment,
equipment used for automobiles, trains, ships and other transportation, traffic signaling equipment,
equipment used to control combustions or explosions, safety devices, elevators and escalators, devices
related to electric power, and equipment used in finance-related fields. Do not use Product for the above
use unless specifically agreed by AKM in writing.
3. Though AKM works continually to improve the Product’s quality and reliability, you are responsible for
complying with safety standards and for providing adequate designs and safeguards for your hardware,
software and systems which minimize risk and avoid situations in which a malfunction or failure of the
Product could cause loss of human life, bodily injury or damage to property, including data loss or
corruption.
4. Do not use or otherwise make available the Product or related technology or any information contained in
this document for any military purposes, including without limitation, for the design, development, use,
stockpiling or manufacturing of nuclear, chemical, or biological weapons or missile technology products
(mass destruction weapons). When exporting the Products or related technology or any information
contained in this document, you should comply with the applicable export control laws and regulations
and follow the procedures required by such laws and regulations. The Products and related technology
may not be used for or incorporated into any products or systems whose manufacture, use, or sale is
prohibited under any applicable domestic or foreign laws or regulations.
5. Please contact AKM sales representative for details as to environmental matters such as the RoHS
compatibility of the Product. Please use the Product in compliance with all applicable laws and
regulations that regulate the inclusion or use of controlled substances, including without limitation, the
EU RoHS Directive. AKM assumes no liability for damages or losses occurring as a result of
noncompliance with applicable laws and regulations.
6. Resale of the Product with provisions different from the statement and/or technical features set forth in
this document shall immediately void any warranty granted by AKM for the Product and shall not create
or extend in any manner whatsoever, any liability of AKM.
7. This document may not be reproduced or duplicated, in any form, in whole or in part, without prior
written consent of AKM.