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MC7010 virtual 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 1 / 89 ? 201 4 mcube inc. all rights reserved general description MC7010 provides 9 dof function with a n ultra - small 3x3mm single package for consumer electronic market. it consists of a 3 - axis accelerometer, 3 - axis magnetometer and a specially designed sensor fusion uni t . besides the accelerometer and tilt - compensated compass, it integrates the mcube patented igyro tm engine supported by the optimized sensor fusion unit design , to provide a n ultra - low power gyroscope function . th us , the MC7010 can provide the 9 dof function for cellphone, tablet, and other consumer electronic devices with competitive performance and ultra - low current. features ? competitive 9 dof solution - 3 - axis accelerometer - 3 - axis magnetometer - 3 - axis virtual gyroscope function ? 3x3 single package, small footprint - 3x3 x0.95 mm 16pin lga - i ndustry leading 9dof package ? ultra - l ow power consumption - 0.25ma normal 9dof mode - 75 % power saving vs. physical gyroscope function ? flexible pin compatibility - mcube 3 - axis accelerometer mc3 25 x - mcube 6 - axis ecompass mc6450 - o ne pcb for 3 axis, 6 axis and 9 axis ? digital interface - dual i2c interface up to 400khz - 1 interrupt for accelerometer - 1 interrupt for magnetometer ? power supply - avdd 1.7 - 3.6v - dvdd 1.7 - 3.6v
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 2 / 89 ? 201 4 mcube inc. all rights reserved table of contents 1 order info ................................ ................................ ................................ ............................. 5 2 functional block diagram ................................ ................................ ............................... 6 3 packaging and pin descriptions ................................ ................................ .................... 7 3.1 package orientati on ................................ ................................ ................................ ............. 7 3.2 package outline ................................ ................................ ................................ ................... 8 3.3 pin descriptions ................................ ................................ ................................ ................... 9 4 typical application circuit ................................ ................................ ........................... 10 5 specifications ................................ ................................ ................................ .................... 11 5.1 absolute maximum ratings ................................ ................................ ................................ 11 5.2 magnetometer sensor characteristics ................................ ................................ ............... 12 5.3 magnetometer electrical characteristics ................................ ................................ ............ 13 5.4 accel erometer sensor characteristics ................................ ................................ ............... 14 5.5 accelerometer electrical characteristics ................................ ................................ ............ 15 5.6 igyro tm characteristics ................................ ................................ ................................ ....... 16 5.7 i2c electrical characteristics ................................ ................................ .............................. 17 5.8 i2c timing char acteristics ................................ ................................ ................................ . 18 5.9 power supply sequence ................................ ................................ ................................ .... 19 6 magnetometer operation ................................ ................................ .............................. 21 6.1 magnetometer operational modes ................................ ................................ ..................... 21 6.2 initialization ................................ ................................ ................................ ........................ 22 6.2.1 self - test ................................ ................................ ................................ ......................... 22 6.3 modes ................................ ................................ ................................ ................................ 24 6.3.1 off mode ................................ ................................ ................................ ...................... 24 6.3.2 stand - by mode ................................ ................................ ................................ ............... 24 6.3.3 active mode ................................ ................................ ................................ .................... 24 6.4 data ready interrupt output (drdy pin) ................................ ................................ ........... 28 6.5 offset calibration ................................ ................................ ................................ ............... 29 6.6 offset drift ................................ ................................ ................................ .......................... 30 6.7 temperature measurement and compe nsation function ................................ ................... 31 7 accelerometer operation ................................ ................................ ............................ 32 7.1 accelerometer general operation ................................ ................................ ...................... 32 7.2 accelerometer sensor sampling ................................ ................................ ........................ 32 7.3 accelerometer offset and gain calibration ................................ ................................ ........ 32
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 3 / 89 ? 201 4 mcube inc. all rights reserved 7.4 accelerometer operational states ................................ ................................ ...................... 33 7.5 accelerometer operational state flow ................................ ................................ ............... 34 7.6 accelerom eter interrupts ................................ ................................ ................................ .... 35 7.7 enabling and clearing interrupts ................................ ................................ ........................ 35 7.8 accelerometer interrupt support ................................ ................................ ........................ 36 7.9 accelerometer gint interrupt ................................ ................................ ............................ 36 7.10 accelerometer ev ent detection ................................ ................................ .......................... 36 7.11 accelerometer orientation detection ................................ ................................ .................. 38 7.12 orientation hysteresis ................................ ................................ ................................ ........ 38 7.13 portrait/landscape events ................................ ................................ ................................ . 38 7.14 front/back events ................................ ................................ ................................ .............. 43 7.15 shake detection ................................ ................................ ................................ ................. 45 7.16 drop detection ................................ ................................ ................................ ................... 47 7.17 accelerometer tap detection ................................ ................................ ............................. 48 7.18 accelerometer co ntinuous sampling ................................ ................................ ................. 50 8 i2c interfaces ................................ ................................ ................................ ..................... 51 8.1 i2csupport ................................ ................................ ................................ ......................... 51 8.1.1 accelerometer i2c address ................................ ................................ ............................ 51 8.2 timing ................................ ................................ ................................ ................................ 51 8.3 i2cmessage format ................................ ................................ ................................ ........... 52 9 magnetometer register interface ................................ ................................ ............ 53 9.1 magnetometer registers ................................ ................................ ................................ .... 54 10 accelerometer register i nterface ................................ ................................ .......... 60 10.1 accelerometer register summary ................................ ................................ ...................... 61 10.2 accelerometer tilt: status register ................................ ................................ .................. 63 10.3 accelerometer opstat: operational state status register ................................ .............. 64 10.4 accelerometer inten: interrupt enable register ................................ ............................... 65 10.5 accelerometer mode: mode register ................................ ................................ ............... 66 10.6 accelerometer tapen: tap detection enable register ................................ ..................... 67 10.7 accelerometer tapp: tap pulse register ................................ ................................ .......... 68 10.8 accelerometer drop: drop event control register ................................ ............................. 69 10.9 accelerometer shdb: shake debounce register ................................ .............................. 70 10.10 xout_ex, yout_ex & zout_ex: x, y, z - axis extended accelerometer registers ....... 71 10.11 accelerometer outcfg: output configuration register ................................ ................... 72 10.12 accelerometer x - axis offset registers ................................ ................................ .............. 73
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 4 / 89 ? 201 4 mcube inc. all rights reserved 10.13 accelerometer y - axis offset registers ................................ ................................ .............. 74 10.14 accelerometer z - axis offset registers ................................ ................................ ............... 75 10.15 accelerometer x - axis gain registers ................................ ................................ ................ 76 10.16 accel erometer y - axis gain registers ................................ ................................ ................ 77 10.17 accelerometer z - axis gain registers ................................ ................................ ................. 78 10.18 accelerometer shake_th: shake threshold register ................................ ........................ 79 10.19 accelerometer ud_z_th: up/down z axis threshold register ................................ ......... 80 10.20 accelerometer ud_x_th: up/down x axis threshold register ................................ ......... 81 10.21 accelerometer rl_z_th: right/left z axis threshol d register ................................ ......... 82 10.22 accelerometer rl_y_th: right/left y axis threshold register ................................ ......... 83 10.23 accelerometer fb_z_th: front/back z axis threshold register ................................ ....... 84 10.24 accelerometer drop_th: drop threshold register ................................ .......................... 85 10.25 accelerometer tap_th: tap t hreshold register ................................ ............................... 86 10.26 accelerometer pcode: product code ................................ ................................ ............... 87 11 revision history ................................ ................................ ................................ ................ 88 12 legal ................................ ................................ ................................ ................................ ...... 89
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 5 / 89 ? 201 4 mcube inc. all rights reserved 1 order info part number order number package shipping mc 7010 mc 7010 lga - 1 6 tape & reel, 5ku
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 6 / 89 ? 201 4 mcube inc. all rights reserved 2 f unctional block diagram figure 1 . block diagram a / d c o n v e r t e r m a g n e t o m e t e r o r i e n t a t i o n a n d d e t e c t i o n l o g i c a / d c o n v e r t e r ( s i g m a d e l t a ) c t o v t e s t 3 a v d d g n d r e g u l a t o r o s c i l l a t o r / c l o c k g e n e r a t o r m o d e l o g i c a n d s l e e p t i m e r i n t e r r u p t d e t e c t i o n b i a s g e n e r a t o r x a / d c o n v e r t e r ( s i g m a d e l t a ) c t o v y a / d c o n v e r t e r ( s i g m a d e l t a ) o f f s e t / g a i n a d j u s t c t o v z o t p m e m o r y r e g i s t e r s t e s t 2 l p f [ 2 : 0 ] o f f s e t / g a i n a d j u s t o f f s e t / g a i n a d j u s t v a r i o u s e v e n t s x , y , z d a t a p a t h s a c c e l e r a t i o n s e n s o r s d r i v e g e n e r a t o r o s c i l l a t o r r e g u l a t o r c o m p e n s a t i o n r e g i s t e r s o t p m e m o r y a c c e l e r o m e t e r i n t n d r d y t e s t 0 t e m p e r a t u r e s e n s o r s d a s c l t e s t 1 c o n t r o l l e r 3 a x i s m a g n e t i c s e n s o r p r e a m p d v d d i 2 c s l a v e i n t e r f a c e i 2 c s l a v e i n t e r f a c e g n d s e l f t e s t s e n s o r f u s i o n u n i t
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 7 / 89 ? 201 4 mcube inc. all rights reserved 3 packaging and pin descriptions 3.1 package orientation figure 2 . package axis reference C magnetometer & accelero meter figure 3 . package orientation C accelerometer & magnetometer positive values indicate direction of acceleration force. the magnetic sensor output value of each axis is positive when turned toward magnetic north. d i r e c t i o n o f : e a r t h g r a v i t y a c c e l e r a t i o n m a g n e t i c f i e l d x o u t = - 1 g , + | b | t y o u t = 0 g , 0 t z o u t = 0 g , 0 t x o u t = + 1 g , - | b | t y o u t = 0 g , 0 t z o u t = 0 g , 0 t x o u t = 0 g , 0 t y o u t = - 1 g , + | b | t z o u t = 0 g , 0 t x o u t = 0 g , 0 t y o u t = + 1 g , - | b | t z o u t = 0 g , 0 t x o u t = 0 g , 0 t y o u t = 0 g , 0 t z o u t = + 1 g , - | b | t x o u t = 0 g , 0 t y o u t = 0 g , 0 t z o u t = - 1 g , + | b | t t o p v i e w s i d e v i e w p i n 1 t o p a . b . c . d . e . f . t i l t = l e f t t i l t = r i g h t t i l t = u p t i l t = d o w n t i l t = f r o n t t i l t = b a c k s n
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 8 / 89 ? 201 4 mcube inc. all rights reserved 3.2 package outline figure 4 . package outline dimensions
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 9 / 89 ? 201 4 mcube inc. all rights reserved 3.3 pin descriptions pin name function 1 dvdd digital power supply (to interface circuitry) 2 nc no connection 3 test0 factory use mag test ( no connect, ground) 4 scl i2c serial clock input 5 gnd ground 6 sda i2c serial data input / output 7 nc no connection 8 drdy magnetometer interrupt (no connect, ground, dvdd) 9 nc no connection 10 nc no connection 11 intn accelerometer interrupt 12 gnd ground 13 test1 factory use mag program (no connect , ground, dvdd ) 14 avdd analog power supply (to internal circuitry) 15 test2 factory use accel test ( no connect , ground, dvdd ) 16 test3 factory use accel program ( no connect , ground, dvdd ) table 1 : pin descriptions
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 10 / 89 ? 201 4 mcube inc. all rights reserved 4 typical application circuit figure 5 . typical application circuit in typical applications, the digital power supply may contain significant noise from external sources and other circuits which should be isolated from the sensors. for these applications, a lower - noise power supply to power the avdd pi n s may be desirable. t o f a s t - m o d e i 2 c c i r c u i t r y 1 p l a c e c a p c l o s e t o d v d d a n d g n d o n p c b } f r o m i n t e r f a c e p o w e r s u p p l y n o t e 1 : r p a r e t y p i c a l l y 4 . 7 k ? p u l l - u p r e s i s t o r s t o d v d d , p e r i 2 c s p e c i f i c a t i o n . w h e n d v d d i s p o w e r e d d o w n , s d a a n d s c l w i l l b e d r i v e n l o w b y i n t e r n a l e s d d i o d e s . n o t e 2 : a t t a c h t y p i c a l 4 . 7 k ? p u l l - u p r e s i s t o r i f i n t n i s d e f i n e d a s o p e n - d r a i n . f r o m l o w e r - n o i s e p o w e r s u p p l y 0 . 1 f p l a c e c a p c l o s e t o a v d d a n d g n d o n p c b ( o p t i o n a l ) t o m c u i n t e r r u p t i n p u t s 2 0 . 1 f d v d d n c t e s t 0 s c l g n d t e s t 1 g n d i n t n n c n c s d a n c d r d y t e s t 3 t e s t 2 a v d d 1 2 3 4 5 1 6 1 5 1 4 6 7 8 1 3 1 2 1 1 1 0 9 r p r p r p
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 11 / 89 ? 201 4 mcube inc. all rights reserved 5 specifications 5.1 absolute maximum ratings parameters exceeding the absolute maximum ratings may permanently damage the device. rating symbol minimum / maximum value unit supply v oltages pins dvdd , avdd - 0.3 / +3.6 v acceleration, any axis, 100 s g max 10000 g magnetic f ield h max 0. 2 t storage temperature t stg - 40 / +125 ? table 2 . absolute maximum ratings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 12 / 89 ? 201 4 mcube inc. all rights reserved 5.2 magnetometer sensor characteristics test condition: avdd = 2.8v , dvdd = 2.8v, t op = 25 ? c unless otherwise noted parameter conditions min typ max unit magnetometer field range 1 - 2.4 +2.4 m t magnetometer sensitivity 1 0.15 t / lsb magnetometer linearity 1.2mt - 2 +2 %fs magnetometer sample rate 1 programmable 0.5 1 00 hz table 3 . magnetometer sensor characteristics 1 values are based on device characterizat ion, not tested in production.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 13 / 89 ? 201 4 mcube inc. all rights reserved 5.3 magnetometer electrical characteristics test condition: avdd = 2.8v dvdd = 2.8v, t op = 25 ? c unless otherwise noted parameter conditions symbol min typ max unit supply voltage avdd 1.7 3.6 v i/o voltage dvdd 1.7 3.6 v standby current 2 i dd0 3 a dd2 6 0 2500 a sec sec table 4 . magnetometer electrical characteristics 2 values are based on device characterization, not tested in production.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 14 / 89 ? 201 4 mcube inc. all rights reserved 5.4 accelerometer sensor characteristics test condition: avdd = 2.8v, dvdd=2.8v, t op = 25 ? c unless otherwise noted parameter conditions min typ max unit acceleration r ange 8.0 g sensitivity 1024 lsb/g sensitivity temperature coefficient 3 - 40 t op +85 ? ? zero - g offset 2 00 50 4 m g zero - g offset temperature coefficient 3 , 4 - 40 t op +85 ? 1 mg/ ? noise density 3 1 00 g/hz nonlinearity 3 within 1g range 1 % fs accelerometer sample rate 1024 hz cross - axis sensitivity 3 between any two axes 2 % operating temperature - 40 25 85 ? table 5 . accelerometer sensor characteristics 3 values are based on device characterization, not tested in production. 4 requires compensation algorithm running on external system .
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 15 / 89 ? 201 4 mcube inc. all rights reserved 5.5 accelerometer electrical characteristics parameter conditions symbol min typ max unit supply v oltage avdd 1 . 7 3.6 v i/o v oltage dvdd 1.7 3.6 v sample rate tolerance t clock - 5 5 % test condition: avdd = 2.8v, dvdd=2.8v, t op = 25 ? c unless otherwise noted parameter conditions symbol min typ max unit standby c urrent avdd=2.0v avdd=2.8v avdd=3.6v i dd0 3.8 4.9 5.9 a dd1024 200 a pad - 1 0.01 1 a table 6 . accelerometer electrical characteristics
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 16 / 89 ? 201 4 mcube inc. all rights reserved 5.6 igyro tm characteristics the MC7010 contains the optimized sensor fusion unit that can support the patented mcube igyro tm engine. based on the high performance magnetometer and accelero m eter, igyro tm provides virtual 3 - axis gyroscope function ality with competitive performance. mcubes proprietary technology employs a corrective trace - distortion capability to counteract interference from high acceleration events in situations where other virtual gyros designs typically do not work well. this patented algorithm prov ides a good user experience , close to that of a real gyro for gaming. the specification s of igyro tm engine can var y according to target system software and capabilit ies relating to accelerometer & magnetometer performance. the reference specifications are as follows. parameter value unit 500 dps linear rotation rate support for gaming yes y/n zro 0 deg/s odr 64 hz resolution 1 deg/s accuracy 99 % latency 60 ms slow - motion jitter noise 2. 1 deg/s rotation rate snr 13.8 n/a 4hz bandwidth support yes y/n anti - mag capability yes y/n trace distortion corrective capability yes y/n table 7 . igyro tm features and characteristics mcube igyro tm support exists for android version 4.x.x and beyond. access to the igyro tm functionality and data is done via the standard android apis, as described in android development website. http://developer.android.com/guide/topics/sensors/sensors _overview.html contact the factory or your local support for information regarding software porting.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 17 / 89 ? 201 4 mcube inc. all rights reserved 5.7 i2c electrical characteristics parameter symbol min max unit low l evel i nput v oltage v il - 0.5 0.3*dvdd v high l evel i nput v oltage v ih 0.7*dvdd - v schmitt t rigger i nput hysteresis v hys 0.05*dvdd - v output v oltage, p in s intn , drdy , i ol 2 ma v ol v oh 0 0 0.4 0.9*dvdd v v output v oltage, p in sda (open drain), i ol 1 ma v ols - 0.1*dvdd v input current, pins sda, s cl (input voltage between 0.1*dvdd and 0.9*dvdd max) i i - 10 10 a capacitance, pins sda , scl c i - 10 pf table 8 . i2c electrical characteristics notes: ? if multiple slaves are connected to the i2c signals in addition to this device, only 1 pull - up resistor on each of sda and scl should exist. ? care must be taken to not violate the i 2c specification for capacitive loading. ? when dvdd is not powered and set to 0v, intn , drdy , sda and scl will be held t o dvdd plus the forward voltage of the internal static protection diodes, typically about 0.6v. ? when dvdd is disconnected from power or ground (e.g. hi - z), the device may become inadvertently powered up through the esd diodes present on other powered signa ls. ? characteristics n ot tested in production .
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 18 / 89 ? 201 4 mcube inc. all rights reserved 5.8 i2c timing characteristics figure 6 . i2c interface timing parameter description standard mode fast mode units min max min max f scl scl clock frequency 0 100 0 400 khz t hd; sta hold time (repeated) start condition 4.0 - 0.6 - low low period of the scl clock 4.7 - 1.3 - high high period of the scl clock 4.0 - 0.6 - su;sta set - up time for a repeated start condition 4.7 - 0.6 - hd;dat data hold time 5.0 - - - su;dat data set - up time 250 - 100 - n s t su;sto set - up time for stop condition 4.0 - 0.6 - buf bus free time between a stop and start 4.7 - 1.3 - table 9 . i2c timing characteristics note: values are based on i2c specification requirements, not tested in production.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 19 / 89 ? 201 4 mcube inc. all rights reserved 5.9 power supply sequence the timing and sequence requirements of the power supply pins are shown below. figure 7 - power supply sequence 1 figure 8 - power supply sequence 2
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 20 / 89 ? 201 4 mcube inc. all rights reserved table 10 - power supply voltage timing table 11 - power supply voltage levels (for sequencing purposes only) ? there is no limitation in the turn - on timing of the avdd and the dvdd voltage s . ? case 1: o when the dvdd voltage turns on initially. o after the dvdd voltage has risen (reached vhdv) . o the avdd's voltage rising slope must rise (reach 0.9*avdd) within 1.5 [msec]. figure 9 - avdd and dvdd turn - on timing
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 21 / 89 ? 201 4 mcube inc. all rights reserved 6 magnetometer operation 6.1 magnetometer operational modes the various operational modes of the magnetometer are shown below. initialization power on reset is performed by turning on the power. all circuits and registers are set to default and the mode is set t o stand - by mode automatically by por. software reset can be performed by writing to a control register. all registers is reloaded from otp and the internal compensation table is reloaded. self - test self - test confirms the operation of the sensor by register command. functional modes the sensor has stand - by mode and active mode for power control. there are two states in active mode. off mode the sensor is not active when avdd and/or dvdd are disabled. stand - by mode low power state. stand - by mode can access i2c registers (read / write). active mode change from stand - by to active mode by register command to control register. force state start to measure and output data by register command. force state is default. normal state measure sampled magnetometer data by using an internal timer. data ready function occurs when new measured results are updated. the drdy pin can be used to indicate new sample data is available. offset calibration function sensor offset can be canceled by using internal dac circuit and digital compensation function. offset drift function when magnetic field strength drifts, the output data values can be compensated by writing to the offset value registers. temperature measurement function retrieve temperature data from internal temperature sensor. temperature data is used for internal compensation of output data. temperature compensation function compensate gain, via digital circuitry, by temperature measurement results.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 22 / 89 ? 201 4 mcube inc. all rights reserved the magnetometer has several states whose primary purpose is power management. a simplified state diagram is shown below. figure 10 . magnetometer state diagram 6.2 initialization ? all internal circuits and all register values are initialized by an internal por (power on reset) circuit after power - on. ? after initialization, the functional mode moves to standby mode automatically. ? the software reset set by the register command srst=1 sets all register value to defaults and reload the compensation values for internal sens or calculation. 6.2.1 s elf - test - self - test can be used to confirm the internal sensor interface and digital logic. - self - test is performed by reading the stb register and setting the register c ommand ctrl3 stc bit to hi. - the following chart shows the procedure to execute self - test. - following a properly function self - test operation, the value of response register stb will be set to 0x55.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 23 / 89 ? 201 4 mcube inc. all rights reserved figure 11 - self test flow chart
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 24 / 89 ? 201 4 mcube inc. all rights reserved 6.3 modes 6.3.1 off mode the sensor is not active when avdd and/or dvdd are disa bled. the following table shows each status of off mode. avdd dvdd operation state 0v 0v sensor is not active. there is no activity on the i2c bus. 0v 1.7v to 3.6v sensor is not active. there is no activity on the i2c bus. 1.7v to 3.6v 0v sensor is not active. there is no activity on the i2c bus. table 12 . off mode 6.3.2 stand - by mode after loading the por (power on reset), internal state is moved to the standby mode automatically. read and write access function is limited to the following in stand - by mode: - write: (ctrl3) force, tcs and stc are disabled - read: all resisters can be read. - register is changed from the active mode to the stand - by mode by setting pc=0 (cntl1). 6.3.3 active mode at active mode, each function can be performed by setting control register 3 (ctrl3). to transfer to active mode, set the pc=1 (ctrl1). - there are two types of measurement state. one is periodical measurement "normal state," controlled by inner timer, and the other is "force state," controlled by register command set by i2c access. - the measurement state is selectable with fs bit on control register 1 (ctrl1). - the default of measurement state is the force state (fs=1) after por or reset running.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 25 / 89 ? 201 4 mcube inc. all rights reserved figure 12 - transferring between m odes
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 26 / 89 ? 201 4 mcube inc. all rights reserved 6.3.3.1 force state force s tate is u sed for synchronous measurement (selected from register ctrl3, bit frc). m easurement s start after forced register command are written to register via i2c . ? functional mode changes from stand - by mode to active mode by setti ng register(control1: bit pc) to "1". ? force s tate is set by control register (cntl1: bit fs) "1". ? acquired data stored to output register (outx, outy, outz), and status register(stat: bit drdy) is set to "1" and output signal (drdy pin) are set to active. ? output on external dr d y pin is set by control register (cntl2) . ? during reading data, output register is not updat ed . after reading is complete, reading data is updated. ? change of state from normal to force is valid after measurement if control register is s et during the active measuring in normal state. figure 13 - measurement control timing (force state)
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 27 / 89 ? 201 4 mcube inc. all rights reserved 6.3.3.2 normal state ? normal state is a continuous measurement state, and when normal state is set by setting 0 to control register (cntl1: b it fs), a measurement is started. ? measurement time and interval are managed by an internal clock. ? functional mode is changed from stand - by mode to active mode by setting register (cntl1: bit pc) to "1". ? output data rate (odr) is selectable between 0.5hz or 100hz by register (cntl1: bit odr). ? acquired data are stored to register (outx, outy, outz), status register(stat: bit drdy) is set to "1" and output pin signal are control with (cntl2:bit den). figure 14 - measurement control timing (normal state)
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 28 / 89 ? 201 4 mcube inc. all rights reserved 6.4 data ready interrupt output (drdy pin) ? this function is used to indicate that output sample data has been updated. ? data ready output is enabled on the drdy pin, when the sensor data has been updated. ? the status (active / inact ive) of the data ready pin can be read via the status register (stat). ? drdy is changed to inactive after reading data on the output register. ? conditions of data ready function can be set in the control register (ctrl2). cnrl2 bit bit name default condition 4 den 0 output control on drdy pin 0 = disable 1 = enable 3 drp 1 the polarity setting on drdy pin 0 = active low 1 = active high table 13 - control of drdy interrupt output pin figure 15 - data ready (drdy) interrupt function
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 29 / 89 ? 201 4 mcube inc. all rights reserved 6.5 offset calibration ? this function is enable d when control register (cntl3:ocl) is set to hi during the force state. ? the offset value for inner adc output is calculated with the measured sensor offset, and then compensation values for the amplitude offset and the digital offset are set automatically. ? the ocl bit is changed to be low after the compensation offset value is updated , and then the status is back to what it was before measurement.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 30 / 89 ? 201 4 mcube inc. all rights reserved 6.6 offset drift ? this function can make the digital compensation output that is add with values wrote by the host cpu on the offset drift register (offx, offy, offz). ? offset drift values can be set with 15bit signed value. figure 16 - magnetometer offset drift
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 31 / 89 ? 201 4 mcube inc. all rights reserved 6.7 temperature measurement and compensation function ? the temperature measurement function is executed by setting the register command tcs to "1" while in for ce state. after measurement, tcs bit change to "0" and back to what it was before measurement. ? the measurement result is updated in the temperature value register (temp). ? sensor output values are compensated with the temperature value register (temp) .
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 32 / 89 ? 201 4 mcube inc. all rights reserved 7 acc elerometer operation 7.1 accelerometer general operation the acceleration range is factory configured to 8g. the internal sampling rate is fixed at 1024 samples per second. the resulting sensor readings are provided with 14 - bit s of resolution . 7.2 accelerometer sensor sampling measurement data is stored in the extended registers xout_ex, yout_ex, and zout_ex. the byte with the lower address of the byte pair is the least significant byte while the byte with the next higher address is the most significant byte. t he 14 - bit measurement is represented as 2s complement format.14 - bit samples occupy bits [13:0], with bits [15:13] occupied by the sign bit. the device sample rate is fixed at 1024 samples/second. the features tap, shake, drop and orientation detection are available. resolution acceleration range value per bit (mg/lsb) full scale negative reading full scale positive reading comments 14 - bit 8g ~0.98 0xe000 ( - 8192) 0x1fff (+8191) signed, 2s complement table 14 . summary of resolution, range and scaling based upon the intended application, filtering of the data samples may be desired. the device has several low - pass filter (lpf) options for the raw sample data intended to filter out undesired high frequency components. related to this lpf setting is the gint interrupt rate, which can be modified to occur based upon the lpf roll - off frequenc y, rather than the sample rate (fixed at 1024 samples / second). see section 7.9 accelerometer g int interrupt for more information on this option. the cutoff points for the lpf can be set from 8hz to 512 hz. these, and the controls for the gint rate, are described in section 10.11 accelerometer outcfg: output configuration register . 7.3 accelerometer offset and gain calibration digital offset and gain calibration can be performed on the sensor in order to reduce the effects of post - assembly influences and stresses which may cause the sensor readings to be offset from their factory values. the se register controls are described in sections 10.12 through 10.17 .
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 33 / 89 ? 201 4 mcube inc. all rights reserved 7.4 accelerometer operational states the device has two states of operation: standby (the default state after power - up) and wake. the standby state offers the lowest power consumption. in this state, the i2c interface is active and all register reads and writes are allowed. there is no event detection, sampling, or acceleration measurement in the standby state. internal clocking is halted. complete access to the register set is allowed in this state, but inte rrupts cannot be serviced. the device defaults to the standby state following power - up. the time to change states from standby to wake is less than 10 s . registers can be written (and therefore thresholds and other settings can be changed) only when the device is in standby state. the i2c interface allows write access to all registers only in the standby state. in wake state, the only i2c register with write access permitted is the accelerometer m ode : mode register . full read access is allowed in all states. state i2c bus description standby device responds to i2c bus (r/w) device is powered; registers can be accessed via i2c . lowest power state. no interrupt generation, internal clocking disabled. default power - on state. wake device responds to i2c bus (read) continuous sampling and reading of sense data. all registers exce pt the accelerometer m ode : mode register are read - only. table 15 . accelerometer operational states
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 34 / 89 ? 201 4 mcube inc. all rights reserved 7.5 accelerometer operational state flow figure 17 . accelerometer operational state flow shows the o perational state flow for the device. the device defaults to standby following power - on. figure 17 . accelerometer operational state flow the operational state may be forced to a specific state by writing into the opcon bits, as shown below. two bits are specified in order to promote software compatibility with other mcube devices. the operational state will stay in the mode specified until changed: action setting effect force wake state opcon[1:0] = 01 switch to and remain in wake state continuous sampling force standby state opcon[1:0] = 11 switch to and remain in standby state disable sensor and event sampling table 16 . forcing accelerometer operational states w a k e s t a n d b y o p c o n = 1 1 o p c o n = 0 1
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 35 / 89 ? 201 4 mcube inc. all rights reserved 7.6 accelerometer interrupts the sensor device utilizes output pin intn to signal to an external processor that an event has been sensed. the processor s interrupt service routine perform s certain tasks after receiving this interrupt and reading the associated status bits, perhaps after the product was moved into a certain orientation or had been tapped. the processor set s up the registers such that when a specific event is detected, the processor would receive the interrupt and the interrupt service routine would be executed. for products that use a polling method of interrupt servicing , the method of reading sensor data is slightly different. instead of receiving an interrupt when an event occurs, the processor must periodically poll the sensor and read status data . in this case, the intn pin is not used. for most applications , polling is best done at the sensor sampling rate or faster. note th at at least one i2c stop condition must be present between samples in order for the sensor to update the sample data registers. note: for polling support , the event detection bits (tapd, shaked, dropd) and associated interrupt enable bits in the accelerometer tilt: status register must still be set up as if interrupts would occur in order for the status registers to be updated with proper data. although the intn is not connected, the registers in the sensor will still contain valid status and so can be used by software to know the orientation of the product or if an event has occurred. 7.7 enabling and clearing interrupts the accelerometer inten: interrupt enable register determines which events generate interrupts. when an event is detected, it is masked with an interrupt enable bit in this register and the corresponding status bit is set in the accelerometer tilt: status register . multiple interrupt events might be reported at the same time in the accelerometer tilt: status register , so software must interpret and prioritize the results. the pin intn is cleared during the next i2c bus cycle after the device id has been recognized by the device. when an interrupt is triggered, the first i2c read acce ss to the device clears intn pin. the condition (tapd, shaked, dropd) that generated the interrupt will remain held in the accelerometer tilt: status register until it is read. note that the orientation bit - fields pola and bafr are continuously updated (every sample) in the accelerometer tilt: status register and are not held. note that multiple interrupts may be active at the same time, and so a software routine reading the accelerometer tilt: status register should account for this. any of the following interrupts can be enabled or disabled in the accelerometer inten: interrupt enable register and accelerometer drop: drop event control register . ? front/back interrupt ? up/down/left/right (portrait / landscape) interrupt ? tap detection interrupt ? gint (real - time motion tracking, generate interrupt each sample period) ? shake on x - axis, shake on y - axis, and shake on z - axis ? drop event detection
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 36 / 89 ? 201 4 mcube inc. all rights reserved the accelerometer inten: interrupt enable register contains many of the interrupt enable bits. the drop interrupt enable bit dint is located in the accelerometer drop: drop event control register . 7.8 accelerometer interrupt support the following table shows the relationship between motion events and interrupt enable bits for determining when the device will generate an interrupt. no measurements or interrupts are generated in the standby state. motion event interrupt enable bits portrait/landscape or front/back orientation change fbint = 1 plint = 1 shake shintx = 1 shinty = 1 shintz = 1 tap tint = 1 drop dint = 1 sample update gint = 1 table 17 . accelerometer interrupt support 7.9 accelerometer g int interrupt the gint interrupt can trigger on each sample period (default), or be filtered by the bandwidth setting of the lpf. if the accelerometer outcfg: output configuration register irate bit is inactive, then the gint interrupt will trigger each sample period. if the irate bit is active, the gint interrupt rate will be updated based on the low - pass filter setting contro lled by bit - field lpf. 7.10 accelerometer event detection the detection logic monitors and compares sensor outputs against the comparisons selected by the application software. each type of event can be masked by a separate bit in the accelerometer inten: interrupt enable register . the following table shows how the detection events are evaluated.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 37 / 89 ? 201 4 mcube inc. all rights reserved event x axis y a xis z axis up |z|< (ud_z_th) and |x|> (ud_x_th) and x < 0 1 down |z|< (ud_z_th) and |x|> (ud_x_th) and x > 0 1 right |z|< (rl_z_th) and |y|> (rl_y_th) and y < 0 2 left |z|< (rl_z_th) and |y|> (rl_y_th) and y > 0 2 front z > fb_z_th 3 back z < - 1 * fb_z_th 3 shaked 4 |x| > 1.3g shake_th |y| > 1.3g shake_th |z| > 1.3g shake_th dropd 5 |x| < 0.5g drop_th |y| < 0.5g drop_th |z| < 0.5g drop_th tapd 6 |x|> tap_th |y|> tap_th |z|> tap_th table 18 . accelerometer detection logic event evaluation 1 up/down z threshold is programmable from 0.425g to 1.172g, up/down x threshold is programmable from |x| to |x| + 0.747g. 2 right/left z threshold is programmable from 0.425g to 1.172g, right/left y threshol d is programmable from |y| to |y| + 0.747g. 3 front/back z threshold is programmable from 0.174g to 0.547g. 4 shaked event is triggered when any axis > shake_th, programmable from 0.925g to 1.1672g. 5 dropd event is triggered when condition (a) |x|+|y|+|z| < 0.5g + drop_th or condition (b) |x|<0.5g drop_th and |y| < 0.5g drop_th and |z| < 0.5g drop_th, this is user selectable. the range is from 0.125g to 0.872g. 6 tapd event is triggered by |x|> tap_th or |y|>tap_th g or |z|>tap_th, where tap_th is programmable and any combination of x, y, and z may be selected.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 38 / 89 ? 201 4 mcube inc. all rights reserved 7.11 accelerometer orientation detection the accelerometer in MC7010 allows an application to determine the orientation of the device. the current orientation of the device is reported as left, right, up, down, front, and back for each sampling period. this information generates the portrait/landscape status bits in the accelerometer tilt: status register . 7.12 orientation hysteresis hysteresis can be added to portrait/landscape and front/back detection by modifying the default threshold offset values. see the specific sections below for more info rmation. 7.13 portrait/landscape events portrait/landscape detection is a combination of left, right, up, and down events, also partially dependent upon z sensor readings of the accelerometer. the default comparison angle for portrait/landscape is 45 degrees w hen evaluating differences between left, right, up, and down, as long as the magnitude of z is < 0.8g (default). see figure 18 . by increasing the threshold values written to the accelerometer ud_x_th: up/down x axis threshold and accelerometer rl_y_th: right/left y axis threshold , hysteresis can be introduced to the angle of eva luation. these registers add a small offset to the default x and y values and introduce additional margin in the portrait/landscape detection logic. for most applications, the same value should be written to both registers. when the device orientation is i n the hysteresis region, the device will report orientation as unknown. when this reading is reported, in order to implement a hysteresis effect for orientation, high - level software should use the last known portrait/landscape information. in the example shown in figure 19 the evaluation angle has been decreased to 40 degrees in each threshold, such that there is a 10 degree deadband or hys teresis - area between left/right and down/up areas. the circle represents the acceleration in the z axis, which has a default of 0.8g, or about a 33 degree tilt relative to the z axis.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 39 / 89 ? 201 4 mcube inc. all rights reserved figure 18 . default orientation settings figure 19 . example simple orientation hysteresis = 10 degrees the z threshold for each direction can also be adjusted, as shown in figure 20 . this has the effect of altering the angle relative to the z axis which causes the orientation state to change. figure 21 shows an example of setting the ud_z_th and rl_z_th registers to different values, as well as setting the ud_x_th and rl_y_th registers to different values. however for most applications the same value should be written to both registers in both cases. - x - y d e f a u l t u d _ x _ t h 4 5 o + y + x p o l a = l e f t p o l a = r i g h t p o l a = d o w n p o l a = u p p o l a = u n k n o w n i n s h a d e d r e g i o n d e f a u l t r l _ y _ t h 4 5 o d e f a u l t r l _ z _ t h 3 3 o ( l e f t / r i g h t a r c r a d i u s ) d e f a u l t u d _ z _ t h 3 3 o ( u p / d o w n a r c r a d i u s ) u d _ x _ t h 4 0 o r l _ y _ t h 4 0 o d e f a u l t r l _ z _ t h 3 3 o ( l e f t / r i g h t a r c r a d i u s ) p o l a = u n k n o w n i n s h a d e d r e g i o n s h y s t e r e s i s 1 0 o d e f a u l t u d _ z _ t h 3 3 o ( u p / d o w n a r c r a d i u s ) - x - y + y + x p o l a = l e f t p o l a = r i g h t p o l a = d o w n p o l a = u p
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 40 / 89 ? 201 4 mcube inc. all rights reserved figure 20 . effect of changing ud_z_th threshold with hysteresis = 10 degrees figure 21 . example of complex thresholds for up/down x, right/left y, up/down z & right/left z table 19 summarizes the portrait/landscape event evaluation criteria. some example threshold values and the corresponding trip angle and amount of hysteresis are shown in table 20 . event x axis y axis z axis up |z|< (ud_z_th) and |x|> (ud_x_th) and x < 0 down |z|< (ud_z_th) and |x|> (ud_x_th) and x > 0 right |z|< (rl_z_th) and |y|> (rl_y_th) and y < 0 left |z|< (rl_z_th) and |y|> (rl_y_th) and y > 0 table 19 . accelerometer portrait/landscape event evaluation criteria p o l a = u n k n o w n i n s h a d e d r e g i o n s u d _ x _ t h 4 0 o r l _ y _ t h 4 0 o r l _ z _ t h m a x ( 1 o ) ( l e f t / r i g h t a r c r a d i u s ) h y s t e r e s i s 1 0 o u d _ z _ t h m a x ( 1 o ) ( u p / d o w n a r c r a d i u s ) - x - y + y + x p o l a = l e f t p o l a = r i g h t p o l a = d o w n p o l a = u p p o l a = u n k n o w n i n s h a d e d r e g i o n s - x u d _ x _ t h 1 3 o + x p o l a = d o w n p o l a = u p r l _ y _ t h 2 8 o r l _ z _ t h 1 o ( l e f t / r i g h t a r c r a d i u s ) h y s t e r e s i s 4 9 o u d _ z _ t h 5 9 o ( u p / d o w n a r c r a d i u s ) - y + y p o l a = l e f t p o l a = r i g h t
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 41 / 89 ? 201 4 mcube inc. all rights reserved registers ud_x_th or rl_y_th threshold value trip angle (approx. degrees) resulting hysteresis (approx. degrees) corresponding g value (approximate) 0x00 45 0 0.72 0x10 43 4 0.68 0x20 41 8 0.66 0x30 39 12 0.63 0x40 37 16 0.61 0x50 36 20 0.58 0x60 34 24 0.55 table 20 .some approximate x and y - axis portrait/landscape evaluation angles and values registers ud_z_th or rl_z_th threshold value trip angle (approx. degrees) corresponding g value (approximate) 0x80 67 0.43 0x90 64 0.47 table 21 . some approximate z - axis portrait/landscape evaluation angles and values note*: max values >1.0g are possible, to cover offset variations. table 22 shows the orientation event conditions for the portrait/landscape detection hardware.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 42 / 89 ? 201 4 mcube inc. all rights reserved pola[2:0] left right down up description/comments 000 0 0 0 0 unknown 001 1 0 0 0 left/ l andscape 010 0 1 0 0 right/ l andscape 101 0 0 1 0 down/ p ortrait 110 0 0 0 1 up/ p ortrait table 22 . portrait/ landscape accelerometer tilt: status register assignments
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 43 / 89 ? 201 4 mcube inc. all rights reserved 7.14 front/back events the front/back detection compares zout with a low g value, ranging from 0.174g to 0.547g, with the offset from 0.174g specified by the accelerometer fb_z_th: front/back z axis threshold register . this equates to a range of approximately 55 degrees. the bafr bit - field is updated in the accelerometer tilt: status register according to the front/back orientation sensed by the device. additional hysteresis can be added to front/back detection by increasing the front/back z axis threshold value locate d in the accelerometer fb_z_th: front/back z axis threshold register . when the front/back or ientation of the device is in the deadband region, bafr bit - field will report the orientation as unknown. the default settings (0x00) equate to a range of approximately 25 degrees where the sensor will report bafr = front (or back). the maximum settings (0xff) equate to about a 80 degree range. see figure 22 and figure 23 . figure 22 . default setting of fb_z_th for bafr readings figure 23 .maximum setting of fb_z_th for bafr readings 2 5 . 0 2 5 . 0 - z + z s e n s o r f b _ z _ t h = 0 x 0 0 = = 2 5 o ( d e f a u l t , a p p r o x . ) b a f r = f r o n t b a f r = b a c k b a f r = u n k n o w n b a f r = u n k n o w n f b _ z _ t h = 0 x f f = = 8 0 o ( m a x i m u m , a p p r o x . ) 8 0 . 0 8 0 . 0 + z - z s e n s o r b a f r = u n k n o w n b a f r = u n k n o w n b a f r = f r o n t b a f r = b a c k
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 44 / 89 ? 201 4 mcube inc. all rights reserved the bit settings for the bafr bit - field are shown in table 23 . table 24 shows the front/back orientation evaluation criteria. some example threshold values and the corresponding trip angles are shown in table 25 . all values are approximate and not tested in production. bafr[1:0] status 00 unknown condition of front or back 01 front: device is in orientation e. in figure 3 10 back: device is in orientation f. in figure 3 11 reserved table 23 . bafr bit assignments in the accelerometer tilt: status register event x axis y axis z axis front z > fb_z_th back z < - 1 * fb_z_th table 24 . front/back event evaluation threshold value fb_z_th trip angle (approx. degrees) 0x00 25 0x10 28 0x20 32 0x30 35 0x40 39 0x50 42 0x60 46 0x70 49 table 25 . approximate front/back evaluation angles and values
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 45 / 89 ? 201 4 mcube inc. all rights reserved 7.15 shake detection the threshold for detecting a shake event can be set to a range of values around a 1.3g baseline. the shake threshold can range from 0.925g to 1.672g. th e value is a signed, 2s complement number. resolution is approximately 2.9mg/bit. a shake event will be triggered when high - g values are sensed for a sufficient number of samples. accelerometer shdb: shake debounce register can be set to count from 1 to 63 events before setting the shaked bit in the accelerometer tilt: status register . higher values yield longer evaluation periods. see figure 24 and figure 25 . shake detection can be any combination of axes. to enable detection even when not using interrupts, set the corresponding shintx, shinty, or shintz bit - fields in the accelerometer inten: interrupt enable register . event x axis y axis z axis shake |x| > +1.3g threshold or |y| > +1.3g threshold or |z| > +1.3g threshold table 26 . shake event evaluation (baseline + offset) figure 24 .example use of shake detection hardware C shake not detected s a m p l e s e n s e d g v a l u e t i m e s h a k e d e b o u n c e r e g i s t e r = = 4 b u t t h e s e n s e d g v a l u e i s a b o v e 1 . 3 g + s h a k e _ t h f o r o n l y 3 s a m p l e s . s h a k e e v e n t i s n o t d e t e c t e d . 1 . 3 g s h a k e _ t h r e g i s t e r { s h a k e d e t e c t i s r e s e t h e r e
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 46 / 89 ? 201 4 mcube inc. all rights reserved figure 25 . example use of shake detection hardware C shake detected s e n s e d g v a l u e s h a k e _ t h r e g i s t e r t i m e s a m p l e s h a k e d e b o u n c e r e g i s t e r = = 4 a n d t h e s e n s e d g v a l u e i s a b o v e 1 . 3 g + s h a k e _ t h f o r 5 s a m p l e s . s h a k e e v e n t i s d e t e c t e d . 1 . 3 g { s h a k e d e t e c t e d h e r e
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 47 / 89 ? 201 4 mcube inc. all rights reserved 7.16 drop detection drop detection is defined as a low - g acceleration applied to all axes. two modes of drop detection are supported: mode a: drop detection is a summation of all 3 axes: drop is detected when: sum( s(x) + s(y) + s(z) ) < 0.5g drop_th threshold else drop not detected; mode b: drop detection is the logical and of three comparisons: drop is detected when: s(x) < 0.5g drop_th threshold and s(y) < 0.5g drop_th threshold and s(z) < 0.5g drop_th threshold else drop not detected. the typical drop threshold value is on the order of < 0.5g for all axes. the drop detection range is from 0.125g to 0.872g. the drop debounce value (bit - field ddb in the accelerometer drop: drop event control register ) can filter from 1 to 8 consecutive events before setting the drop interrupt. event x axis y axis z axis drop mode a sum (|x| + |y| + |z|) < 0.5g drop_th drop mode b |x| < 0.5g drop_th and |y| < 0.5g drop_th and |z| < 0.5g drop_th table 27 . drop event evaluation
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 48 / 89 ? 201 4 mcube inc. all rights reserved 7.17 accelerometer tap detection on - chip tap detection hardware allows the device to detect user events such as on - screen button presses. tap detection can be enabled or disabled on each axis via the accelerometer tapen: tap detection enable register . to detect fast, impulse events like a tap, the accelerometer tapp: tap pulse register should be written with a tap pulse parameter that sets the maximum number of sample periods that a tapd event may exceed the threshold before it is ignored by the detection logic. sensed values that are above the thre shold for long periods of time typically do not correspond to tap events. for example, setting the pulse value to 5 requires that the tap impulse exceed the threshold for at least 1 sample period and up to 5 sample periods. the tap detection hardware is re - armed after the sensed value is below the threshold. see the example in figure 26 and figure 27 . figure 26 . example use of tap detection hardware C no tap detected s e n s e d v a l u e t a p _ t h r e g i s t e r t i m e s a m p l e t a p p u l s e r e g i s t e r = = 5 b u t t h e s e n s e d v a l u e i s a b o v e t h e t h r e s h o l d f o r 1 0 s a m p l e s . n o t a p i s d e t e c t e d . t a p d e t e c t i s r e s e t h e r e ( 6 t h s a m p l e ) t a p d e t e c t i s r e a r m e d h e r e 0 s n a p
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 49 / 89 ? 201 4 mcube inc. all rights reserved figure 27 . example use of tap detection hardware C tap detected the threshold value, set by writing the accelerometer tap_th: tap threshold register , is an 8 - bit unsigned number that species the threshold detection level for all tap events. this value is not an offset, but a magnitude which determines the minimum level for a valid tap event. event x axis y axis z axis tap |x|> tap_th |y|> tap_th |z|> tap_th table 28 . default tap event evaluation s a m p l e s e n s e d v a l u e t a p _ t h r e g i s t e r t i m e t a p p u l s e r e g i s t e r = = 5 a n d t h e s e n s e d v a l u e i s a b o v e t h e t h r e s h o l d f o r 3 s a m p l e s . t a p i s d e t e c t e d . t a p d e t e c t e d h e r e 0 s n a p c o m p a r e d v a l u e s e n s e d v a l u e
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 50 / 89 ? 201 4 mcube inc. all rights reserved 7.18 accelerometer continuous sampling the device has the ability to read all sampled readings in a continuous sampling fashion. the device always updates the xout_ex, yout_ex, and zout_ex registers at 1024 samples/second. an optional interrupt can be generated each time the sample registers have been updated (gint interrupt bit in the accelerometer inten: interrupt enable register ). see sections 7.9 , 10.4 and 10.11 for gint operation and options.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 51 / 89 ? 201 4 mcube inc. all rights reserved 8 i2c interface s the i2c slave interface operates at a maximum speed of 400 khz. MC7010 has two independent i2c interfaces, a dedicated one for magnetic sensor and one for accelerometer, the sda (data) are open - drain, bi - directional pins and the scl (clock) are input pins. scl and sda each require an external pull - up resistor, typically 4.7 k . the MC7010 always o perates as an i2c slave on both magnetometer and accelerometer i2c interfaces . an i2c master initiates all communication and data transfers and generates the scl clock that synchronizes the data transfer. the i2c device default addresses for the accelerome ter is 0x4c, for the magnetic sensor is 0x 0c . the i2c interface remains active as long as power is applied to the dvdd and avdd pins. in the accelerometer, the device responds to i2c read and write cycles when it is in standby state, but interrupts canno t be serviced or cleared. all registers can be written in the standby state, but in wake only, the accelerometer m ode : mode register can be modified. internally, the registers which are used to store samples are clocked by the sample clock gated by i2c activity. therefore, in order to allow the device to collect and present samples in the sample registers at least one i2c stop condition must be present between samples. t he accelerometer requires a stop bit between i2c transactions . 8.1 i2c support the acceleration sensor supports standard mode and fast mode. the magnetic sensor supports standard mode, fast mode , fast mode plus and hi speed mode. the magnetic sensor can seamlessly change from fast mode to hi speed mode using the master code (00001xxx) . the magnetic sensor supports multiple read and write mode. the i2c clock stretch function is not supported . 8.1.1 accelerometer i2c a ddress the i2c device address is 0x4 c (8 - bit written address 0x98, reading address 0x99). if an i2c burst read operation reads past register address 0x12 the internal address pointer wraps to address 0x03 and the contents of the accelerometer tilt: status register are returned. this allows application software to burst read the contents of th e six extended registers and the relevant device state registers in a single i2c cycle. 8.2 timing see section 5.8 i2c timing characteristics for i2c timing requirements.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 52 / 89 ? 201 4 mcube inc. all rights reserved 8.3 i2c message format the device uses the following general format for writing to the internal registers. the i2c master generates a start condition, and then supplies the device id. the 8 th bit is the r/w# flag (write cycle = 0). the device pulls sda low during the 9 th clock c ycle indicating a positive ack. this means, from an 8 - bit point of view of an external i2c master, writes should be written to address(0x98 for accelerometer) and reads will occur by reading address (0x99 for accelerometer). the second byte is the 8 - bit re gister address of the device to access, and the last byte is the data to write. figure 28 . i2c message format, write cycle, single register write in a read cycle, the i2c master writes the device id (r/ w#=0) and register address to be read. the master issues a restart condition and then writes the device id with the r/w# flag set to 1. the device shifts out the contents of the register address. figure 29 . i2c message format, read cycle, single register read the i2c master may write or read consecutive register addresses by writing or reading additional bytes after the first access. the device will internally increment the register address. 1 0 0 1 0 1 0 0 a c k r 7 r 6 r 5 r 4 r 1 r 3 r 2 r 0 d 7 d 6 d 5 d 4 d 1 d 4 d 2 d 0 p s a c k a c k s t a r t d e v i c e i d ( 4 c ) r / w # a c k / n a k r e g i s t e r a d d r e s s r e g i s t e r d a t a t o w r i t e s t o p a c k / n a k a c k / n a k i 2 c m a s t e r ( t o s e n s o r ) i 2 c s l a v e ( f r o m s e n s o r ) 1 0 0 1 0 1 0 0 a c k r 7 r 6 r 5 r 4 r 1 r 3 r 2 r 0 r s a c k i 2 c m a s t e r ( t o s e n s o r ) i 2 c s l a v e ( f r o m s e n s o r ) s t a r t d e v i c e i d ( 4 c ) r / w # a c k / n a k r e g i s t e r a d d r e s s r e s t a r t a c k / n a k d 7 d 6 d 5 d 4 d 1 d 3 d 2 d 0 n a k r e a d d a t a b y t e n a k 1 0 0 1 0 1 0 1 a c k d e v i c e i d ( 4 c ) r / w # a c k / n a k p s t o p
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 53 / 89 ? 201 4 mcube inc. all rights reserved 9 magnetometer register interface the device has a simple register interface which allows a mcu or i2c master to configure and monitor all aspects of the device. this section lists an overview of user programmable registers. by convention, bit 0 is the least significant bit (lsb) of a byte register. sensor output values are signed integer (2's complement) presentation and little endian order the following table summarizes the registers in magnetometer. table 29 . magnetometer register summary
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 54 / 89 ? 201 4 mcube inc. all rights reserved 9.1 m a gnetometer registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 55 / 89 ? 201 4 mcube inc. all rights reserved
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 56 / 89 ? 201 4 mcube inc. all rights reserved note: software must always write 0 to bits 0, 1 and 2.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 57 / 89 ? 201 4 mcube inc. all rights reserved
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 58 / 89 ? 201 4 mcube inc. all rights reserved
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 59 / 89 ? 201 4 mcube inc. all rights reserved
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 60 / 89 ? 201 4 mcube inc. all rights reserved 10 accelerometer register interface the device has a simple register interface which allows a mcu or i2c master to configure and monitor all aspects of the device. this section lists an overview of user programmable registers. by convention, bit 0 is the least significant bit (lsb) of a byte register. two registers are needed in order to contain each sample, the xout_ex, yout_ex & zout_ex: x, y, z - axis extended accelerometer registers . the least significant byte is located in the register with a lower address (e.g. xout_ex_l), followed by the most significant byte in the next higher address (e.g. xout_ex_h).
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 61 / 89 ? 201 4 mcube inc. all rights reserved 10.1 accelerometer regist er summary addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 5 0x00 - 0x02 reserved 6 0x03 tilt tilt status register shaked dropd tapd pola [2] pola [1] pola [0] bafr [1] bafr [0] 0x00 r 0x04 opsta t operational state status register otpa 0 resv 0 0 0 opstat [1] opstat [0] 0x03 r 0x05 reserved 6 0x06 inten interrupt enable register shintx shinty shintz gint asint tint plint fbint 0x00 w 0x07 mode mode register iah ipp resv 7 resv resv 0 8 opcon [1] opcon [0] 0x03 w 0x08 reserved 6 0x09 tapen tap detection enable register zda yda xda resv resv resv resv resv 0x00 w 0x0a tapp tap pulse register resv resv resv resv tapp [3] tapp [2] tapp [1] tapp [0] 0x00 w 0x0b drop drop event control register drop_ mode dint resv resv resv drop_ db[2] drop_ db[1] drop_ db[0] 0x00 w 0x0c shdb shake debounce register resv resv shdb [5] shdb [4] shdb [3] shdb [2] shdb [1] shdb [0] 0x00 w 0x0d xout _ex_l xout extended register xout _ex[7] xout _ex[6] xout _ex[5] xout _ex[4] xout _ex[3] xout _ex[2] xout _ex[1] xout _ex[0] 0x00 r 0x0e xout _ex_h xout extended register xout _ex[15] xout _ex[14] xout _ex[13] xout _ex[12] xout _ex[11] xout _ex[10] xout _ex[9] xout _ex[8] 0x00 r 0x0f yout _ex_l yout extended register yout _ex[7] yout _ex[6] yout _ex[5] yout _ex[4] yout _ex[3] yout _ex[2] yout _ex[1] yout _ex[0] 0x00 r 0x10 yout _ex_h yout extended register yout _ex[15] yout _ex[14] yout _ex[13] yout _ex[12] yout _ex[11] yout _ex[10] yout _ex[9] yout _ex[8] 0x00 r 0x11 zout _ex_l zout extended register zout _ex[7] zout _ex[6] zout _ex[5] zout _ex[4] zout _ex[3] zout _ex[2] zout _ex[1] zout _ex[0] 0x00 r 0x12 zout _ex_h zout extended register zout _ex[15] zout _ex[14] zout _ex[13] zout _ex[12] zout _ex[11] zout _ex[10] zout _ex[9] zout _ex[8] 0x00 r 0x1 3 - 0x1f reserved 6 0x20 outcf g output configuration register irate lpf [2] lpf [1] lpf [0] 1 9 1 9 1 9 1 9 0x0f w 0x21 xoffl x - offset lsb register xoff[7] xoff[6] xoff[5] xoff[4] xoff[3] xoff[2] xoff[1] xoff[0] per chip w 0x22 xoffh x - offset msb register xgain[8] resv xoff [13] xoff [12] xoff [11] xoff [10] xoff [9] xoff [8] per chip w 0x23 yoffl y - offset lsb register yoff[7] yoff[6] yoff[5] yoff[4] yoff[3] yoff[2] yoff[1] yoff[0] per chip w 5 r registers are read - only, via external i2c access. w registers are read - write, via external i2c access. 6 registers designated as reserved should not be accessed by software. 7 bits designated as resv are reserved for future use. 8 software must always write a zero 0 to this bit. 9 software must always write a one 1 to this bit.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 62 / 89 ? 201 4 mcube inc. all rights reserved addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 5 0x24 yoffh y - offset msb register ygain[8] resv yoff [13] yoff [12] yoff [11] yoff [10] yoff[9] yoff[8] per chip w 0x25 zoffl z - offset lsb register zoff[7] zoff[6] zoff[5] zoff[4] zoff[3] zoff[2] zoff[1] zoff[0] per chip w 0x26 zoffh z - offset msb register zgain[8] resv zoff [13] zoff [12] zoff [11] zoff [10] zoff[9] zoff[8] per chip w 0x27 xgain x gain register xgain[7] xgain[6] xgain[5] xgain[4] xgain[3] xgain[2] xgain[1] xgain[0] per chip w 0x28 ygain y gain register ygain[7] ygain[6] ygain[5] ygain[4] ygain[3] ygain[2] ygain[1] ygain[0] per chip w 0x29 zgain z gain register zgain[7] zgain[6] zgain[5] zgain[4] zgain[3] zgain[2] zgain[1] zgain[0] per chip w 0x2a reserved 6 0x2b shake _th shake threshold register shake _th[7] shake _th[6] shake _th[5] shake _th[4] shake _th[3] shake _th[2] shake _th[1] shake _th[0] 0x00 w 0x2c ud_z _th up/down z threshold register ud_z _th[7] ud_z _th[6] ud_z _th[5] ud_z _th[4] ud_z _th[3] ud_z _th[2] ud_z _th[1] ud_z _th[0] 0x00 w 0x2d ud_x _th up/down x threshold register ud_x _th[7] ud_x _th[6] ud_x _th[5] ud_x _th[4] ud_x _th[3] ud_x _th[2] ud_x _th[1] ud_x _th[0] 0x00 w 0x2e rl_z _th right/left z threshold register rl_z _th[7] rl_z _th[6] rl_z _th[5] rl_z _th[4] rl_z _th[3] rl_z _th[2] rl_z _th[1] rl_z _th[0] 0x00 w 0x2f rl_y _th right/left y threshold register rl_y _th[7] rl_y _th[6] rl_y _th[5] rl_y _th[4] rl_y _th[3] rl_y _th[2] rl_y _th[1] rl_y _th[0] 0x00 w 0x30 fb_z _th front/back z threshold register fb_z _th[7] fb_z _th[6] fb_z _th[5] fb_z _th[4] fb_z _th[3] fb_z _th[2] fb_z _th[1] fb_z _th[0] 0x00 w 0x31 drop _th drop threshold register drop _th[7] drop _th[6] drop _th[5] drop _th[4] drop _th[3] drop _th[2] drop _th[1] drop _th[0] 0x00 w 0x32 tap _th tap threshold register tap _th[7] tap _th[6] tap _th[5] tap _th[4] tap _th[3] tap _th[2] tap _th[1] tap _th[0] 0x00 w 0x33 to 0x3a reserved 6 0x3b pcode product code 1 0 0 1 0 0 0 0 0x 90 r 0x3c to 0x3f reserved 6 table 30 . accelerometer register summary 10 10 no registers are updated with new event status or samples while a n i2c cycle is in process.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 63 / 89 ? 201 4 mcube inc. all rights reserved 10.2 accelerometer tilt: status register this register contains bits which are set when a motion event is detected. each event has a corresponding interrupt enable which can mask any combination of events. the event detection bits (shaked, dropd, tapd) remain held until the register is read by th e i2c interface. note that the orientation bit - fields pola and bafr are continuously updated (every sample) in the accelerometer tilt: status register and are not held. note that multiple interrupts may be active at the same time, and so a software routine reading the accelerometer tilt: status register should account for this. refer to figure 2 . package axis reference C magnetometer & accelero meter and figure 3 package orientation C accelerometer . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x03 t ilt tilt status register shaked dropd tapd pola [2] pola [1] pola [0] bafr [1] bafr [0] 0x00 r bafr[1 :0] back or front 00: unknown condition of front or back 01: front C C C C C C table 31 . accelerometer tilt status register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 64 / 89 ? 201 4 mcube inc. all rights reserved 10.3 accelerometer opstat: operational state status register the operational state status register reports which operational state the devic e is in, either wake or standby. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x04 opstat operational state status register otpa 0 resv 0 0 0 opstat [1] opstat [0] 0x03 r opstat[1:0] sampling state register status, wait state register status 00: reserved 01: device is in wake state 10: reserved 11: device is in standby state, no sampling resv reserved otpa one - time programming (otp) activity status 0: internal memory is idle and the device is ready for use 1: internal memory is active and the device is not yet ready for use table 32 . accelerometer operational state status register
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 65 / 89 ? 201 4 mcube inc. all rights reserved 10.4 accelerometer inten: interrupt enable register the interrupt enable register enables or disables interrupts on various motion events. if the corresponding interrupt enable bit is set, a matching event will generate an interrupt transition on the external interrupt pin, intn. to enable the drop interrup t, set the dint control bit in the accelerometer drop: drop event control register . when an interrupt is triggered, the first i2c access to the device will clear the external interrupt pin, but the condition (tapd, shaked, dropd) that generated the interrupt will remain hel d in the accelerometer tilt: status register until it is read. note that the orientation bit - fields pola and bafr ar e continuously updated (every sample) in the accelerometer tilt: status register and are not held. addr name descri ption bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x06 inten interrupt enable register shintx shinty shintz gint resv tint plint fbint 0x00 w fbint front / back interrupt 0: disable interrupt on front/back position change 1: enable interrupt on front/back position change plint portrait / landscape interrupt 0: disable interrupt on up/down/left/right position change 1: enable interrupt on up/down/left/right position change tint tap interrupt 0: disable interrupt on tap detection 1: enable interrupt on tap detection reserved reserved gint generate interrupt 0: disable automatic interrupt after each measurement 1: enable automatic interrupt after each measurement is updated in xout, yout, or zout. the interrupt occurs for each measurement, not value change. see section 7.9 . shintx shake interrupt, x - axis 0: disable x - axis interrupt, shaked is not set in accelerometer tilt: status register upon event 1 : enable x - axis interrupt, shaked is set in accelerometer tilt: status register upon event shinty shake interrupt, y - axis 0: disable y - axis interrupt, shaked bit is not set in accelerometer tilt: status register upon event 1 : enable y - axis interrupt, shaked bit is set in accelerometer tilt: status register upon event shintz shake interrupt, z - axis 0: disable z - axis interrupt, shaked bit is not set in accelerometer tilt: status register upon event 1 : enable z - axis interrupt, shaked bit is set in accelerometer tilt: status register upon event table 33 . accelerometer interrupt enable register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 66 / 89 ? 201 4 mcube inc. all rights reserved 10.5 accelerometer m ode : mode register the mode register controls the active operating state of the device. this register can be written from either operational state (standby or wake). addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x07 mode mode register iah ipp resv * resv * resv * 0 * opcon[1] opcon[0] 0x03 w note*: software must always write a zero 0 to bit 2. bits 3, 4 and 5 are reserved. opcon [1:0] 00: reserved set device operational state. wake or standby 01: move to wake state and remain there 10: reserved 11: move to standby state and remain there (standby is the default por state) ipp 0: interrupt pin intn is open drain (default) and requires an external pull - up to avdd. interrupt push pull 1: interrupt pin intn is push - pull. no external pull - up resistor should be installed. iah 0: interrupt pin intn is active low interrupt active high 1: interrupt pin intn is active high table 34 . accelerometer mode register functionality
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 67 / 89 ? 201 4 mcube inc. all rights reserved 10.6 accelerometer tapen: tap detection enable register this register allows individual tap/pulse detection on each axis. setting xda, yda, or zda adds the corresponding axis to tap event detection. see also section 7.17 accelerometer tap detection . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x09 tapen tap detection enable register zda yda xda resv resv resv resv resv 0x00 w xda 0: disable tap detection on x - axis 1: enable tap detection on x - axis yda 0: disable tap detection on y - axis 1: enable tap detection on y - axis zda 0: disable tap detection on z - axis 1: enable tap detection on z - axis table 35 . accelerometer tapen register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 68 / 89 ? 201 4 mcube inc. all rights reserved 10.7 accelerometer tapp: tap pulse register this value sets the number of samples for which a tap pulse must exceed the tap_th threshold before it is rejected as not a tap event. if the values detected by the sensor exceed the tap_th threshold for longer than the reject count, no tap event is detect ed and the interrupt is not set. see also section 7.17 accelerometer tap detection . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x0a tapp tap pulse register resv resv resv resv tapp [3] tapp [2] tapp [1] tapp [0] 0x00 w tapp [3:0] tap detection sample periods (n) description 0x0 1 this tap detection filtering requires the sensed values to exceed the tap_th threshold level for n sample periods. when they have, the sensor will set tapd bit in the accelerometer tilt: status register . in addition, if the tint tap interrupt is enabled in the accelerometer inten: interrupt enable register then an interrupt will be generated by the device. 0x1 2 0x2 3 0x3 4 5 n 15 table 36 . accelerometer tapp tap pulse register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 69 / 89 ? 201 4 mcube inc. all rights reserved 10.8 accelerometer drop: drop event control register addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x0b d rop drop event control register drop_ mode dint resv resv resv drop_ db[2] drop_ db[1] drop_ db[0] 0x00 w drop_d b[2:0] drop debounce 000: 1 drop event 001: 2 adjacent drop events 010: 3 adjacent drop events : 4 n 7 adjacent drop events drop interrupt 0: disable drop event interrupt 1: enable drop event interrupt the dropd bit in the accelerometer tilt: status register will be set upon event occurrence regardless of this bit setting. drop_mode drop mode 0: mode a: drop detection is a summation of all 3 axes: drop is detected when: sum( mag(x) + mag(y) + mag(z) ) < 0.5g drop_th threshold else drop not detected; 1: mode b: drop detection is the logical and of three comparisons: drop is detected when: mag(x) < 0.5g drop_th threshold and mag(y) < 0.5g drop_th threshold and mag(z) < 0.5g drop_th th reshold else drop not detected. table 37 . accelerometer drop event control register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 70 / 89 ? 201 4 mcube inc. all rights reserved 10.9 accelerometer shdb: shake debounce register the shake debounce register allows a 1 to 63 event count to be required before a valid shake event is detected or an interrupt is generated. the debounce value applies to all 3 - axes. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x0c s hdb shake debounce register resv resv shdb [5] shdb [4] shdb [3] shdb [2] shdb [1] shdb [0] 0x00 w shdb[5 :0] adjacent shake events (n) description 0x01 1 shake detection debounce filtering requires n adjacent shake detection events in order to trigger a shake event and set the shaked bit in the accelerometer tilt: status register . in addition, if the shintx, shinty or shintz bits are set in the accelerometer inten: interrupt enable register and that event occurs, then an interrupt will be generated by the device. 0x02 2 0x03 3 . 4 n 62 table 38 . accelerometer sh_db shake debounce register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 71 / 89 ? 201 4 mcube inc. all rights reserved 10.10 xout_ex, yout_ex & zout_ex: x, y, z - axis extended accelerometer registers the measurements from sensors for the 3 - axes are written to the registers xout_ex, yout_ex & zout_ex: x, y, z - axis extended accelerometer registers . the most - significant bit of th e value is the sign bit, and is sign extended to the higher bits. note that all 3 axes are sampled and updated simultaneously. if an i2c burst read operation reads past register address 0x12 the internal address pointer wraps to address 0x03 and the cont ents of the accelerometer tilt: status register are returned. this allows application software to burst read the co ntents of the six extended registers and relevant device state registers in a single i2c read cycle. once an i2c start bit has been recognized by the sensor, registers will not be updated until an i2c stop bit has occurred. therefore, if software desires to read the low and high byte registers atomically, knowing that the values have not been changed, it should do so by issuing a start bit, reading one register, then reading the other register then i ssuing a stop bit. note that all 6 registers may be read in one burst with the same effect. 14 - bit samples occupy bits [13:0], with bits [15:13] occupied by the sign bit. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x0d x out _ex_l xout extended register xout _ex[7] xout _ex[6] xout _ex[5] xout _ex[4] xout _ex[3] xout _ex[2] xout _ex[1] xout _ex[0] 0x00 r 0x0e xo ut _ex_h xout extended register xout _ex [15] xout _ex [14] xout _ex [13] xout _ex [12] xout _ex [11] xout _ex [10] xout _ex [9] xout _ex [8] 0x00 r 0x0f yo ut _ex_l yout extended register yout _ex[7] yout _ex[6] yout _ex[5] yout _ex[4] yout _ex[3] yout _ex[2] yout _ex[1] yout _ex[0] 0x00 r 0x10 yo ut _ex_h yout extended register yout _ex [15] yout _ex [14] yout _ex [13] yout _ex [12] yout _ex [11] yout _ex [10] yout _ex [9] yout _ex [8] 0x00 r 0x11 zo ut _ex_l zout extended register zout _ex[7] zout _ex[6] zout _ex[5] zout _ex[4] zout _ex[3] zout _ex[2] zout _ex[1] zout _ex[0] 0x00 r 0x12 zo ut _ex_h zout extended register zout _ex [15] zout _ex [14] zout _ex [13] zout _ex [12] zout _ex [11] zout _ex [10] zout _ex [9] zout _ex [8] 0x00 r table 39 . accelerometer extended registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 72 / 89 ? 201 4 mcube inc. all rights reserved 10.11 accelerometer outcfg: output configuration register this register can be used to set the resolution of the accelerometer measurements, the maximum g - range and low - pass filter settings for samplin g and the bandwidth setting for the gint interrupt. the lowest 4 bits must be set by software to binary b 11 11. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x20 outcfg output configuration register irate lpf [2] lpf [1] lpf [0] 1* 1* 1* 1* 0x 0 f w note*: software must always write a 1 to bits 0 to 3. lpf[2:0] low pass filter b andwidth 000: low - pass filter set to 512 hz bandwidth 001: low - pass filter set to 256 hz bandwidth 010: low - pass filter set to 128 hz bandwidth 011: low - pass filter set to 64 hz bandwidth 100: low - pass filter set to 32 hz bandwidth 101: low - pass filter set to 16 hz bandwidth 110: low - pass filter set to 8 hz bandwidth 111: reserved irate gint s ample r ate t rigger 0: gint interrupt updates at sample acquisition rate 1: gint interrupt updates at lpf bandwidth setting determined by lpf[2:0] if irate=1, the gint interrupt will occur at the same rate as the bandwidth setting table 40 . accelerometer outcfg resolution and range select register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 73 / 89 ? 201 4 mcube inc. all rights reserved 10.12 accelerometer x - axis offset registers this register contains a signed 2s complement 14 - bit value applied as an o ffset adjustment to the output of the sensor values, prior to being sent to the out_ex registers. the power - on - reset value for each chip is unique and is set as part of factory calibration. if necessary, this value can be overwritten by software. note: wh en modifying these registers with new gain or offset values, software should perform a read - modify - write type of access to ensure that unrelated bits do not get changed inadvertently. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x21 xoffl x - offset lsb register xoff [7] xoff [6] xoff [5] xoff [4] xoff [3] xoff [2] xoff [1] xoff [0] per chip w 0x22 xoffh x - offset msb register xgain [8] resv xoff [13] xoff [12] xoff [11] xoff [10] xoff [9] xoff [8] per chip w table 41 . accelerometer x - axis offset registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 74 / 89 ? 201 4 mcube inc. all rights reserved 10.13 accelerometer y - axis offset registers this register contains a signed 2s complement 14 - bit value applied as an offset adjustment to the output of the sensor values, prior to being se nt to the out_ex registers. the power - on - reset value for each chip is unique and is set as part of factory calibration. if necessary, this value can be overwritten by software. note: when modifying these registers with new gain or offset values, software should perform a read - modify - write type of access to ensure that unrelated bits do not get changed inadvertently. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x23 yoffl y - offset lsb register yoff [7] yoff [6] yoff [5] yoff [4] yoff [3] yoff [2] yoff [1] yoff [0] per chip w 0x24 yoffh y - offset msb register ygain [8] resv yoff [13] yoff [12] yoff [11] yoff [10] yoff [9] yoff [8] per chip w table 42 . accelerometer y - axis offset registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 75 / 89 ? 201 4 mcube inc. all rights reserved 10.14 accelerometer z - axis offset registers this register contains a signed 2s complement 14 - bit value applied as an offset adjustment to the output of the sensor values, prior to being se nt to the out_ex registers. the power - on - reset value for each chip is unique and is set as part of factory calibration. if necessary, this value can be overwritten by software. note: when modifying these registers with new gain or offset values, software should perform a read - modify - write type of access to ensure that unrelated bits do not get changed inadvertently. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x25 zoffl z - offset lsb register zoff [7] zoff [6] zoff [5] zoff [4] zoff [3] zoff [2] zoff [1] zoff [0] per chip w 0x26 zoffh z - offset msb register zgain [8] resv zoff [13] zoff [12] zoff [11] zoff [10] zoff [9] zoff [8] per chip w table 43 . accelerometer z - axis offset registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 76 / 89 ? 201 4 mcube inc. all rights reserved 10.15 accelerometer x - axis gain registers the gain value is an unsigned 9 - bit number . note: when modifying these registers with new gain or offset values, software should perform a read - modify - write type of access to ensure that unrelated bits do not get changed inadvertently. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x22 xoffh x - offset msb register xgain [8] resv xoff [13] xoff [12] xoff [11] xoff [10] xoff [9] xoff [8] per chip w 0x27 xgain x gain register xgain [7] xgain [6] xgain [5] xgain [4] xgain [3] xgain [2] xgain [1] xgain [0] per chip w table 44 . accelerometer x - axis gain registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 77 / 89 ? 201 4 mcube inc. all rights reserved 10.16 accelerometer y - axis gain registers the gain value is an unsigned 9 - bit number . note: when modifying these registers with new gain or offset values, software should perform a read - modify - write type of access to ensure that unrelated bits do not get changed inadvertently. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x24 yoffh y - offset msb register ygain [8] resv yoff [13] yoff [12] yoff [11] yoff [10] yoff [9] yoff [8] per chip w 0x28 ygain y gain register ygain [7] ygain [6] ygain [5] ygain [4] ygain [3] ygain [2] ygain [1] ygain [0] per chip w table 45 . accelerometer y - axis gain registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 78 / 89 ? 201 4 mcube inc. all rights reserved 10.17 accelerometer z - axis gain registers the gain value is an unsigned 9 - bit number . note: when modifying these registers with new gain or offset values, software should perform a read - modify - write type of access to ensure that unrelated bits do not get changed inadvertently. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x26 zoffh z - offset msb register zgain [8] resv zoff [13] zoff [12] zoff [11] zoff [10] zoff [9] zoff [8] per chip w 0x29 zgain z gain register zgain [7] zgain [6] zgain [5] zgain [4] zgain [3] zgain [2] zgain [1] zgain [0] per chip w table 46 . accelerometer z - axis gain registers
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 79 / 89 ? 201 4 mcube inc. all rights reserved 10.18 accelerometer shake_th: shake threshold register shake_th has a baseline value of 1.3g plus a threshold, shake_th. the shake threshold can range from 0.925g to 1.672g. the value is an 8 - bit signed 2s complement number. the resolution is approximately 2.9mg/bit. see also section 7.15 shake detection . shake event = ( mag(x) > 1.3g + shake_th ) or ( mag(y) > 1.3g + shake_th ) or ( mag(z) > 1.3g + shake_th ) addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x2b shake_t h shake threshold register signed 2s complement value 0x00 w shake_th[7:0] description (~2.9mg/lsb) 0x80 shake threshold is 0.925g 0x00 shake threshold is 1.3g 0x7f shake threshold is 1.672g table 47 . accelerometer shake_th threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 80 / 89 ? 201 4 mcube inc. all rights reserved 10.19 accelerometer ud_z_th: up/down z axis threshold register the threshold value, ud_z_th[7:0] is an 8 - bit signed 2s complement number that can range from 0.425g to 1.172g, for dete rmination of the pola orientation bits. the resolution is approximately 2.9mg/bit. see also section 7.13 portrait/landscape . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x2c ud_z_th up/down z axis threshold register signed 2s complement value 0x00 w ud_z_th[7:0] description (~2.9mg/lsb) 0x80 up/down z axis threshold is 0.425g 0x00 up/down z axis threshold is 0.8g 0x7f up/down z axis threshold is 1.172g table 48 . accelerometer up/down z - axis threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 81 / 89 ? 201 4 mcube inc. all rights reserved 10.20 accelerometer ud_x_th: up/down x axis threshold register this 8 - bit unsigned value is an offset that is added to the magnitude of the x - axis accelerometer measurement. the range of the offset is 0g to 0.747g; the resolution is a pproximately 2.9mg/bit. see also section 7.13 portrait/landscape . increasing this value in conjunction with the accelerometer rl_y_th: right/left y axis threshold register widens the deadband in portrait /landscape detection. for most applications, the same value should be written to both registers. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x2d ud_x_th up/down x axis threshold register unsigned value 0x00 w ud_x_th[7:0] description (~2.9mg/lsb) 0x00 up/down x threshold offset is 0g 0xff up/down x threshold offset is +0.747g table 49 . accelerometer up/down x - axis threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 82 / 89 ? 201 4 mcube inc. all rights reserved 10.21 accelerometer rl_z_th: right/left z axis threshold register the threshold value, rl_z_th[7:0] is an 8 - bit signed 2s complement number that can range from 0.425g to 1.172g, for determination of the pola orientation bits. the resolution is approximately 2.9mg/bit. see also section 7.13 portrait/landscape . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x2e rl_z_th right/left z axis threshold register signed 2s complement value 0x00 w rl_z_th[7:0] description (~2.9mg/lsb) 0x80 right/left z axis threshold is 0.425g 0x00 right/left z axis threshold is 0.8g 0x7f right/left z axis threshold is 1.172g table 50 . accelerometer right/left z - axis threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 83 / 89 ? 201 4 mcube inc. all rights reserved 10.22 accelerometer rl_y_th: right/left y axis threshold register this 8 - bit unsigned value is an offset this is added to the magnitude of the y - axis accelerometer measurement. the range of the offset is 0g to 0.747g; the resolution is approxim ately 2.9mg/bit. see also section 7.13 portrait/landscape . increasing this value in conjunction with the accelerometer ud_x_th: up/down x axis threshold register widens the dead - band in portrait /lands cape detection. for most applications, the same value should be written to both registers. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x2f rl_y_th right/left y axis threshold register unsigned value 0x00 w rl_y_th[7:0] description (~2.9mg/lsb) 0x00 right/left y - axis threshold offset is 0g 0xff right/left y - axis threshold offset is +0.747g table 51 . accelerometer right/left y - axis threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 84 / 89 ? 201 4 mcube inc. all rights reserved 10.23 accelerometer fb_z_th: front/back z axis threshold register the threshold value, fb_z_th[7:0] is an 8 - bit unsigned number that adds up to + 0.373g to the baseline detection level of 0.174g, in increments of approximately 1.46mg/lsb. increasing the threshold value increases the h ysteresis of the front/back detection level. see also section 7.14 front/back events . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x30 fb_z_th front/back z axis threshold register unsigned value 0x00 w fb_z_th[7:0] description (~1.46mg/lsb) 0x00 front/back z threshold is 0.174g 0xff front/back z threshold is 0.547g table 52 . accelerometer front/back z - axis threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 85 / 89 ? 201 4 mcube inc. all rights reserved 10.24 accelerometer drop_th: drop threshold register the threshold value, drop_th[7:0] is an 8 - bit signed 2s complement number that adjusts the drop - detection baseline detection level of 0.5g. see also section 7.16 drop detection . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x31 drop_th drop threshold register signed 2s complement value 0x00 w drop_th[7:0] description (~2.9mg/lsb) 0x80 drop threshold is 0.125g 0x00 drop threshold is 0.5g 0x7f drop threshold is 0.872g table 53 . accelerometer drop threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 86 / 89 ? 201 4 mcube inc. all rights reserved 10.25 accelerometer tap_th: tap threshold register the threshold value, tap_th[7:0] is an 8 - bit unsigned number that species the threshold detection level for all tap events. this value is not an offset, but a magnitude which determines the minimum level for a valid tap event. the detector is implemented as a 2 nd - order high pa ss filter. as such, the units are the 2 nd derivative of acceleration, also known as snap. the full range is 0 to 12 snap. the resolution is ~47 millisnap/bit. see also section 7.17 accelerometer tap detection . addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x32 tap_th tap threshold register unsigned value 0x00 w tap_th[7:0] description (~47 msnap/lsb) 0x00 tap threshold is 0 snap 0x80 tap threshold is 6 snap 0xff tap threshold is 12 snap table 54 . accelerometer tap_th tap threshold register settings
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 87 / 89 ? 201 4 mcube inc. all rights reserved 10.26 accelerometer pcode: product code this register returns a value specific to the part number of this mcube device, noted below. addr name description bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 por value r/ w 0x3b pcode product code 1 0 0 1 0 0 0 0 0x 90 r table 55 . accelerometer product code
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 88 / 89 ? 201 4 mcube inc. all rights reserved 11 revision history date revision description 201 4 - 04 aps - 048 - 0 022 v1. 1 first release . 2014 - 05 aps - 048 - 0022v1.2 updated igyro tm interface and specs 2014 - 10 aps - 048 - 0022v1.3 added i2c resistors explicitly to typical application circuit. updated pin descriptions to show recommended connections when not used. updated noise specification. added order info.
MC7010 9 - axis sensor preliminary datasheet mcube proprietary aps - 048 - 0022 v 1.3 89 / 89 ? 201 4 mcube inc. all rights reserved 12 legal 1. m - cube reserves the right to make corrections, modifications, enhancements, improvements and other changes to its products and to this document at any time and discontinue any product without notice. the information contained in this document has been carefully checked and is believed to be accurate. however, m - cube shall assume no responsibilities for inaccuracies and make no commitment to update or to keep current the information contained in this document. 2. m - cube products are designed only for commercial and normal industrial applications and are not suitable fo r other purposes, such as: medical life support equipment; nuclear facilities; critical care equipment; military / aerospace; automotive; security or any other applications, the failure of which could lead to death, personal injury or environmental or prop erty damage. use of the products in unsuitable applications are at the customers own risk and expense. 3. m - cube shall assume no liability for incidental, consequential or special damages or injury that may result from misapplication or improper use of op eration of the product. 4. no license, express or implied, by estoppel or otherwise, to any intellectual property rights of m - cube or any third party is granted under this document. 5. m - cube makes no warranty or representation of non - infringement of intellectual property rights of any third party with respect to the products. m - cube specifically excludes any liability to the customers or any third party regarding infringement of any intellectual property rights, including the patent, copyright, trade mark or trade secret rights of any third party, relating to any combination, machine, or process in which the m - cube products are used. 6. examples of use described herein are provided solely to guide use of m - cube products and merely indicate targeted cha racteristics, performance and applications of products. m - cube shall assume no responsibility for any intellectual property claims or other problems that may result from applications based on the examples described herein 7. information described in this d ocument including parameters, application circuits and its constants and calculation formulas, programs and control procedures are provided for the purpose of explaining typical operation and usage. typical parameters that may be provided in m - cube data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. all operating parameters including typicals, must be validated for each customer application by customers technical experts. in no event s hall the information described be regarded as a guarantee of conditions or characteristics of the products. therefore, the customer should evaluate the design sufficiently as whole system under the consideration of various external or environmental conditi ons and determine their application at the customers own risk. m - cube shall assume no responsibility or liability for claims, damages, costs and expenses caused by the customer or any third party, owing to the use of the above information. is a trademark of m - cube, inc. m - cube and the m - cube logo are trademarks of m - cube, inc., all other product or service names are the property of their respective owners. ? m - cube, inc. 201 4 . all rights reserved.

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