FMT1000-series
Motion Tracking Module with Output of Orientation,
Inertial Motion Data and Magnetic Field
Features
Description
Complete module providing many user-configurable
outputs
Incorporates Fairchild‟s highly accurate Inertial
Measurement Unit FIS1100
The FMT1000-series is a product group of turn-key
industrial grade Motion Tracker modules intended for
integration of motion intelligence on unmanned systems,
heavy industry, machine automation and agriculture.
Roll/Pitch Accuracy (Dynamic): 3.0 deg
Industry-leading signal processing pipeline
TM
(AttitudeEngine ) with vibration-rejection
Short time to market with turn-key solution
Heading Accuracy: 3.0 deg
Minimal requirements on host processor
No knowledge of inertial sensors signal processing
required for best performance
®
Drivers and examples on ARM mbed
TM
Low Power (45 mW at 3.0 V)
PLCC28-compatible PCB (12.1 x 12.1 x 2.6 mm)
Applications
Light Industrial and Robotics
VR/AR
GNSS Augmentation and Dead Reckoning
The high data rates of up to 1 kHz and orientation
accuracy of 3.0º RMS makes it an excellent choice for
applications in control and stabilization, and navigation
e.g. unmanned vehicles.
Calibration and testing has already been performed on
each individual unit ensuring high quality of the product
delivered and its performance.
The FMT1000-series has three products (see below)
with distinctive capabilities and outputs.
Product
Output
FMT1010
IMU
FMT1020
VRU
FMT1030
AHRS
Motion Data
●
●
●
Magnetic Field
●
●
●
Agriculture and Heavy Machinery
Miniature Aerial Vehicles (Drones)
Image Stabilization and Platform Stabilization
Roll/Pitch
●
●
Pedestrian Dead-Reckoning
Heading
Tracking
●
●
Related Resources
With output of 3D orientation, 3D rate of turn, 3D
accelerations, and 3D magnetic field directly from the
module, the FMT1000-series can be integrated with
minimal hardware and software development. The
output is configurable in terms of data selection, output
format, output data rate and communication protocol,
reducing the load on the host processor.
Referenced Yaw
●
FMT1000 Product Folder
FEBFMT1030 User Guide
FCS MT Manager User Guide
FCS MFM User Guide
Figure 1.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
FMT1000-series Module
www.fairchildsemi.com
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
November 2015
1
General Information............................................................................................................. 3
1.1
1.2
1.3
1.4
1.5
1.6
1.7
ORDERING INFORMATION ............................................................................................................................... 3
BLOCK DIAGRAM .......................................................................................................................................... 3
TYPICAL APPLICATION ................................................................................................................................... 4
PIN CONFIGURATION ..................................................................................................................................... 4
PIN MAP ...................................................................................................................................................... 5
PIN DESCRIPTIONS ....................................................................................................................................... 6
PERIPHERAL INTERFACE SELECTION ............................................................................................................... 7
1.7.1
Peripheral Interface Architecture ...................................................................................................... 7
1.7.2
Xbus Protocol ................................................................................................................................... 8
1.7.3
MTSSP Synchronous Serial Protocol ............................................................................................... 8
2
1.7.4
I C .................................................................................................................................................. 11
1.7.5
SPI ................................................................................................................................................. 12
1.7.6
UART Half Duplex .......................................................................................................................... 13
1.7.7
UART Full Duplex with RTS/CTS Flow Control .............................................................................. 13
1.8 RECOMMENDED EXTERNAL COMPONENTS .................................................................................................... 14
2
FMT1000-Series Architecture ............................................................................................ 15
2.1
FMT1000-SERIES CONFIGURATIONS ........................................................................................................... 15
2.1.1
FMT1010 IMU ................................................................................................................................ 15
2.1.2
FMT1020 VRU ............................................................................................................................... 15
2.1.3
FMT1030 AHRS ............................................................................................................................. 15
2.2 SIGNAL PROCESSING PIPELINE .................................................................................................................... 15
2.2.1
Strap-down Integration ................................................................................................................... 15
TM
2.2.2
XKF3 Sensor Fusion Algorithm ................................................................................................... 15
2.2.3
Frames of reference used in FMT1000-Series ............................................................................... 16
3
3D Orientation and Performance Specifications ................................................................ 17
3.1
3.2
4
3D ORIENTATION SPECIFICATIONS ............................................................................................................... 17
SENSORS SPECIFICATIONS .......................................................................................................................... 17
Sensor Calibration ............................................................................................................. 19
5
System and Electrical Specifications ................................................................................. 19
5.1
5.2
5.3
5.4
5.5
6
INTERFACE SPECIFICATIONS ........................................................................................................................ 19
SYSTEM SPECIFICATIONS ............................................................................................................................ 19
ELECTRICAL SPECIFICATIONS....................................................................................................................... 20
ABSOLUTE MAXIMUM RATINGS ..................................................................................................................... 20
COMPLIANCE .............................................................................................................................................. 20
FMT1000-Series Settings and Outputs.............................................................................. 21
6.1
6.2
6.3
6.4
7
MESSAGE STRUCTURE ................................................................................................................................ 21
OUTPUT SETTINGS ..................................................................................................................................... 22
MTDATA2.................................................................................................................................................. 23
SYNCHRONIZATION AND TIMING .................................................................................................................... 24
Magnetic Interference........................................................................................................ 25
7.1
7.2
8
MAGNETIC FIELD MAPPING .......................................................................................................................... 25
ACTIVE HEADING STABILIZATION (AHS) ........................................................................................................ 25
Package and Handling ...................................................................................................... 26
8.1
8.2
8.3
8.4
PACKAGE DRAWING .................................................................................................................................... 26
MOUNTING CONSIDERATIONS....................................................................................................................... 27
PACKAGING ................................................................................................................................................ 28
REFLOW SPECIFICATION .............................................................................................................................. 28
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
www.fairchildsemi.com
2
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
Table of Contents
1.1
Ordering Information
Part Number
Output
Package
Packing
Method
FMT1010T
IMU; inertial data
FMT28_028, JEDEC-PLCC-28 Compatible
Tray of 20
FMT1020T
VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
FMT28_028, JEDEC-PLCC-28 Compatible
Tray of 20
FMT1030T
AHRS; inertial data, roll/pitch/yaw
FMT28_028, JEDEC-PLCC-28 Compatible
Tray of 20
FMT1010R
IMU; inertial data
FMT28_028, JEDEC-PLCC-28 Compatible
Reel of 250
FMT1020R
VRU; inertial data, roll/pitch
(referenced), yaw (unreferenced)
FMT28_028, JEDEC-PLCC-28 Compatible
Reel of 250
FMT1030R
AHRS; inertial data, roll/pitch/yaw
FMT28_028, JEDEC-PLCC-28 Compatible
Reel of 250
Note:
1. Other packaging methods available on request. Contact Fairchild for more information.
1.2
Block Diagram
Figure 2.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
FMT1000-Series Module Block Diagram
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3
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1 General Information
Typical Application
Figure 3.
1.4
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.3
Typical Application
Pin Configuration
Figure 4.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Pin Assignment
www.fairchildsemi.com
4
Pin Map
The pin map depends on the peripheral selection. See section 1.7 on how to set the peripherals.
Pin #
PSEL: I C
PSEL: SPI
PSEL:
UART Half Duplex
PSEL:
UART Full Duplex
1
DNC
DNC
DNC
DNC
2
DNC
DNC
DNC
DNC
2
3
DNC
DNC
DNC
DNC
4
GND
GND
GND
GND
5
VDD
VDD
VDD
VDD
6
nRST
nRST
nRST
nRST
7
VDDIO
VDDIO
VDDIO
VDDIO
8
GND
GND
GND
GND
9
DNC
SPI_NCS
DNC
DNC
10
ADD2
(2)
SPI_MOSI
DNC
DNC
11
ADD1
SPI_MISO
DNC
DNC
12
ADD0
SPI_SCK
DNC
DNC
13
GND
GND
GND
GND
14
PSEL0
PSEL0
PSEL0
PSEL0
15
PSEL1
PSEL1
PSEL1
PSEL1
16
SYNC_IN
SYNC_IN
SYNC_IN
SYNC_IN
17
DNC
DNC
DNC
DNC
18
DNC
DNC
DNC
DNC
19
DNC
DNC
DNC
DNC
20
DNC
DNC
DNC
DNC
21
DNC
DNC
DE
22
DRDY
DRDY
nRE
RTS
23
I2C_SDA
DNC
UART_RX
UART_RX
24
I2C_SCL
DNC
UART_TX
UART_TX
25
GND
GND
GND
GND
26
DNC
DNC
DNC
DNC
27
DNC
DNC
DNC
DNC
28
DNC
DNC
DNC
DNC
(3)
CTS
Notes:
2
2. I C addresses, see Table 3: List of I2C Addresses
3. CTS cannot be left unconnected if the interface is set to UART full duplex. If HW flow control is not used, connect
to GND.
S
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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5
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.5
Pin Descriptions
Name
Type
Description
Power Interface
VDD
Power
Power supply voltage for sensing elements.
VDDIO
Power
Digital I/O supply voltage.
Controls
PSEL0
PSEL1
These pins determine the signal interface. See table below. Note that when the
Selection Pins PSEL0/PSEL1 is not connected, its value is 1. When PSEL0/PSEL1 is connected
to GND, its value is 0.
Active low reset pin. Only drive with an open drain output or momentary (tactile)
switch to GND. During normal operation this pin must be left floating, because this
line is also used for internal resets. This pin has a weak pull-up to VDDIO.
nRST
ADD2
ADD1
2
Selection Pins I C address selection lines.
ADD0
Signal Interface
I2C_SDA
I2C_SCL
2
2
I C Interface
SPI_nCS
SPI_MOSI
SPI_MISO
I C serial data.
2
I C serial clock.
SPI chip select (active low).
SPI Interface
SPI_SCK
SPI serial data input (slave).
SPI serial data output (slave).
SPI serial clock.
RTS
Hardware flow control in UART full duplex mode (Ready-to-Send).
CTS
Hardware flow control in UART full duplex mode (Clear-to-Send).
nRE
DE
UART
Interface
Receiver control signal in UART half duplex mode.
Transmitter control signal in UART half duplex mode.
UART_RX
Receiver data input.
UART_TX
Transmitter data output.
SYNC_IN
DRDY
Sync Interface SYNC_IN accepts a trigger which sends out the latest available data message
Data Ready
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
2
Data ready pin indicates that data is available (SPI / I C).
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FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.6
Peripheral Interface Selection
1.7.1
The FMT1000-series modules are designed to be used
as a peripheral device in embedded systems. The
module
supports
Universal
Asynchronous
Receiver/Transmitter (UART), inter-integrated circuit
2
(I C) and the Serial Peripheral Interface (SPI) protocols.
2
The I C and SPI protocols are well suited for
communications between integrated circuits with onboard peripherals. The FMT1000-series modules have
four modes of peripheral interfacing. Only one mode can
be used at a time and is determined by the state of
peripheral selection pins PSEL0 and PSEL1 at startup.
Table 1 specifies how the PSEL lines select the
peripheral interface. Note that the module has internal
pull-ups. Not connecting PSEL results in a value of 1,
connecting PSEL to a GND results in a value of 0.
Examples for communication on embedded systems are
available at https://developer.mbed.org/teams/FairchildSemiconductor
Table 1.
Peripheral Interface Architecture
At its core the module uses the proprietary Xbus
protocol. This protocol is available on all interfaces,
2
UART (asynchronous serial port interfaces) and I C and
2
SPI buses. The I C and SPI buses differ from UART in
that they are synchronous and have a master-slave
relation in which the slave cannot send data by itself.
This makes the Xbus protocol not directly transferable to
these buses. For this the MTSSP protocol is introduced
that provides a way to exchange standard Xbus protocol
2
messages over the I C and SPI buses.
Figure 5 shows how MTSSP is fitted in the module's
(simplified) communication architecture. The module
has generic Input- and Output-Queues for Xbus protocol
2
messages. For I C and SPI these messages are
translated by the MTSSP layer. For the UART
connection these messages are transported as-is.
Peripheral Interface Selection
Interface
PSEL0
PSEL1
IC
1
1
2
SPI
0
1
UART Half-Duplex
1
0
UART Full-Duplex
0
0
Figure 5.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
FMT Module Architecture
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7
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.7
Communication is always initiated and driven by the
Master; the Master either writes data to the module or
the Master reads data from the module. The Master
sends messages to the module in order to control it.
These messages are reduced Xbus messages. A
reduced Xbus message is equal to a normal Xbus
message with the exception that preamble and BusID
are removed to save bandwidth. The calculation of the
checksum is done by assuming a BusID value of 0xFF
(master device).
Xbus Protocol
The Xbus protocol is a proprietary protocol that allows
straightforward interfacing with the FMT1000-series.
Information about the Xbus protocol can be found in the
Low-Level Communication Protocol Documentation.
Section 6 provides a short introduction on the Xbus
protocol. It is advised to go read this short introduction
first before proceeding to the MTSSP explanation.
1.7.3
MTSSP Synchronous Serial Protocol
2
The communication protocol used for both I C and SPI
is called MTSSP (MT Synchronous Serial Protocol).
The module needs time to process the control
messages it receives and will generate an acknowledge
message when ready. In order to get these
acknowledge messages at the Master the Master needs
to read them.
Data Flow
MTSSP communication happens according the masterslave model. The FMT1000-series module will always
fulfill the slave-role while the user/integrator of the
module is always the Master.
Figure 6.
The following diagram shows data flow between Master
and module:
Data Flows within MTSSP
Data Ready Signal
again. The Master can change the behavior of the
DRDY signal.
The Data Ready Signal (DRDY) is a notification line
driven by the module. Its default behavior is to indicate
the availability of new data in either the notification- or
the measurement pipe. By default, the line is idle low
and will go high when either pipe contains an item.
When both pipes are empty the DRDY line will go low
The polarity can be changed to idle high, the output type
can be switched between push-pull and open drain. The
state of a specific pipe can be ignored. For example, it
can be configured that the presence of data in the
notification pipe won't influence the state of the DRDY
pin.
Opcodes
The following opcodes are defined.
Table 2.
2
Opcodes for SPI and I C
Opcode
Name
Read/Write
0x01
ProtocolInfo
Read
Status of the protocol behaviour, protocol version
0x02
ConfigureProtocol
Write
Tweak the Protocol, e.g. the behaviour of the DRDY pin,
behaviour of the pipes
0x03
ControlPipe
Write
Used to send control messages to the module
0x04
PipeStatus
Read
Provides status information for the read pipes
0x05
NotificationPipe
Read
Used to read non-measurement data: errors acknowledgements
and other notifications from the module
0x06
MeasurementPipe
Read
All measurement data generated by the module will be available
in the measurement pipe
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Description
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8
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.7.2
The ProtocolInfo opcode allows the Master to read the active protocol configuration. The format of the message is as
follows (All data is little endian, byte aligned):
struct MtsspInfo
{
uint8_t m_version;
uint8_t m_drdyConfig;
};
m_version
7
6
5
4
3
2
1
0
VERSION [7:0]
m_drdyConfig
Bits 7:4
Reserved for future use
Bit 3
MEVENT: Measurement pipe DRDY event enable
0: Generation of DRDY event is disabled
1: Generation of DRDY event is enabled
Bit 2
NEVENT: Notification pipe DRDY event enable
0: Generation of DRDY event is disabled
1: Generation of DRDY event is enabled
Bit 1
OTYPE: Output type of DRDY pin
0: Push/pull
1: Open drain
Bit 0
POL: Polarity of DRDY signal
0: Idle low
1: Idle high
ConfigureProtocol (0x02)
The ProtocolInfo opcode allows the Master to change the active protocol configuration. The format of the message is
as follows (All data is little endian, byte aligned):
struct MtsspConfiguration
{
uint8_t m_drdyConfig;
};
m_drdyConfig
Bits 7:4
Reserved for future use
Bit 3
MEVENT: Measurement pipe DRDY event enable
0: Generation of DRDY event is disabled
1: Generation of DRDY event is enabled
Bit 2
NEVENT: Notification pipe DRDY event enable
0: Generation of DRDY event is disabled
1: Generation of DRDY event is enabled
Bit 1
OTYPE: Output type of DRDY pin
0: Push/pull
1: Open drain
Bit 0
POL: Polarity of DRDY signal
0: Idle high
1: Idle low
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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9
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
ProtocolInfo (0x01)
The ControlPipe opcode allows the Master to write messages to the control pipe. The bytes following the opcode are
interpreted as a single (reduced) Xbus message
PipeStatus (0x04)
The PipeStatus opcode allows the Master to retrieve the status of the module's Notification- and Measurement pipes.
The format of the message is as follows (All data is little endian, byte aligned):
struct MtsspConfiguration
{
uint16_t m_notificationMessageSize;
uint16_t m_measurementMessageSize;
};
NotificationPipe (0x05)
The NotificationPipe opcode is used to read from the notification pipe. The read data is a single reduced Xbus
message
MeasurementPipe (0x06)
The MeasurementPipe opcode is used to read from the measurement pipe. The read data is a single reduced Xbus
message
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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10
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
ControlPipe (0x03)
2
IC
2
2
The FMT1000-series supports the I C transport layer. The FMT1000-series module acts as an I C Slave. The Master
is defined as the user of the FMT1000-series module.
2
The I C slave address is determined by the ADD0, ADD1 and ADD2 pins. These pins are pulled-up internally so
when left unconnected the address selection defaults to ADD[0..2] = 111.
Table 3.
2
List of I C Addresses
2
Table 4.
I C Address
ADD0
ADD1
ADD2
0x1D
0
0
0
0x1E
1
0
0
0x28
0
1
0
0x29
1
1
0
0x68
0
0
1
0x69
1
0
1
0x6A
0
1
1
0x6B (default)
1
1
1
2
Implemented I C Bus Protocol Features
Feature
Slave Requirement
FMT1000-Series
7-Bit Slave Address
Mandatory
Yes
10-Bit Slave Address
Optional
No
Mandatory
Yes
N/A
N/A
Acknowledge
Arbitration
(4)
Clock Stretching
Optional
Yes
Device ID
Optional
No
General Call Address
Optional
No
Software Reset
Optional
No
N/A
N/A
START Condition
Mandatory
Yes
STOP Condition
Mandatory
Yes
Synchronization
N/A
N/A
START byte
Note:
2
4. The FMT1000-series module relies on the I C clock stretching feature to overcome fluctuations in processing
time, the Master is required to support this feature
Reading from the module
Reading from the module should start by first writing an opcode that tells the module what the Master needs to read.
2
Based on the opcode the module will prepare the related data to be transmitted. The Master then can do an I C read
transfer to retrieve the data. Starting the read transfer after the opcode write can also be done using a repeated start
condition as is shown in Figure 7.
It is up to the Master to determine how many bytes need to be read. The Master should use the PipeStatus (0x04)
opcode of the MTSSP protocol for this.
If the master reads more bytes than necessary the FMT1000-series will restart sending the requested data from the
beginning.
The following diagram shows a read message transfer using a repeated start:
Figure 7.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
2
Read Message Transfer using a Repeated Start (I C)
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11
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.7.4
Figure 8.
1.7.5
2
Full Write Transfer and Full Read Transfer (I C)
The module uses SPI mode 3; Data is captured on the
rising clock edge and data is latched/propagated on the
falling clock edge. (CPOL=1 and CPHA=1);
SPI
The FMT1000-series supports the SPI transport layer.
The FMT1000-series module acts as an SPI Slave. The
Master is defined as the user of the FMT1000-series
module.
Data is clocked-out MSB first. The module uses an 8-bit
data format
SPI Configuration
Data Transfer
The FMT1000-series supports 4-wire mode SPI. The
four lines used are:
There is a single type of SPI transfer used for all
communications. The diagram below shows the basic
transfer.
Chipselect (SPI_nCS)
Serial Clock (SPI_SCK)
Master data in, slave data out (SPI_MISO)
Master data out, slave data in (SPI_MOSI)
Figure 9.
SPI Basic Transfer
A transfer is started selecting the Slave by pulling the
SPI_nCS low. The SPI_nCS line is to be kept low for the
duration of the transfer. The Slave will interpret the
rising edge of the SPI_nCS line as the end of the
transfer.
The second- to fourth byte transmitted are the fill words.
These fill words are needed to give the Slave some time
to prepare the remainder of the transfer. In principal, the
Slave is free to choose the value of the fill word; and its
value should therefore be ignored by the Master.
However, the first 4 bytes transmitted by the FMT1000series module are always 0xFA, 0xFF, 0xFF, 0xFF.
The Master places the data it needs to transmit on the
SPI_MOSI line. The Slave will place its data on the
SPI_MISO line.
Following the first four words are the actual data of the
transfer. It is the responsibility of the Master to
determine how many bytes need to be transferred. The
Master should use the PipeStatus (0x04) opcode of the
MTSSP protocol for this.
The first byte transmitted by the Master is the opcode
which identifies what kind of data is transmitted by the
Master and what kind of data the Master wants to read
from the Slave (See MTSSP).
Timing
The following timing constraints apply to the SPI transport layer.
Figure 10.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
SPI Timing
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12
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
The following diagram shows a read message transfer using a full write transfer for the opcode followed by a read
transfer to get the data:
Symbol
Timing Specifications
Parameter
Min. Max. Unit
T1
Slave select to first
complete word delay
4
μs
T2
Byte time
4
μs
T3
Consecutive SPI transfer
guard time
3
μs
Max. SPI bitrate
1.7.6
2
Figure 11.
Note that in this mode the UART of the FMT1000-series
itself is still operating full duplex.
Mbit
1.7.7
The FMT1000-series module can be configured to
communicate over UART in half duplex mode. The
UART frame configuration is 8 data bits, no parity and 1
stop bit (8N1). In addition to the RX and TX pins, the
control lines nRE and DE are used. These control
outputs are used to drive the TX signal on a shared
medium and to drive the signal of the shared medium on
the RX signal.
The CTS signal is an input for the FMT. The FMT
checks the state of the CTS line at the start of every
byte it transmits. If CTS is low the byte will be
transmitted. Otherwise transmission is postponed until
CTS is lowered. When during the transmission of a byte
the CTS signal is raised, then the transmission of that
byte is completed before postponing further output. This
byte will not be retransmitted. This behavior is shown in
the following image:
A typical use case for this mode is to directly drive a
RS485 transceiver where the shared medium is the
RS485 signal and nRE and DE lines control the buffers
inside the transceiver.
When the FMT is transmitting data on its TX pin it will
raise both the nRE and DE lines, else it will pull these
lines low.
Data Transmit Behavior Under CTS
The RTS signal is an output for the FMT. If the RTS line
is high, the FMT is busy and unable to receive new
data. Otherwise the FMT‟s UART is idle and ready to
receive. After receiving a byte the DMA controller of the
Figure 13.
UART Full Duplex with RTS/CTS Flow
Control
The FMT1000-series module can be configured to
communicate over UART in full duplex mode with
RTS/CTS flow control. The UART frame configuration is
8 data bits, no parity and 1 stop bit (8N1). In addition to
the RX and TX signals for data communication the RTS
and CTS signals are used for hardware flow control.
UART Half Duplex
Figure 12.
Behavior of the nRE and DE Lines
FMT will transfer the byte to its receive FIFO. The RTS
signal will be asserted during this transfer. So with every
byte received the RTS line is raised shortly like shown in
the following image:
FRTS Behavior Under Data Reception
This communication mode can be used without hardware flow control. In this case the CTS line needs to be tied low
(GND) to make the FMT transmit.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
www.fairchildsemi.com
13
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
Table 5.
Recommended External Components
Description
Component
Typical value
I C Pull-up Resistor
Rpu
2.7 kΩ
2
Notes:
2
5. Rpu is only needed when the FMT1000-series is configured for I C interface.
2
6. RPSEL is only required when interface is not I C.
Figure 14.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
External Components
2
(I C Interface)
Figure 15.
External Components
(UART Interface)
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14
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
1.8
This section discusses the FMT1000-series architecture
including the various configurations and the signal
processing pipeline.
7.2) the drift in unreferenced yaw can be limited to 1 deg
after 60 minutes, even in magnetically disturbed
environments.
2.1
2.1.3
FMT1000-Series Configurations
The FMT1000-series is fully-tested, self-contained
modules that can 3D output orientation data (Euler
angles (roll, pitch, and yaw), rotation matrix (DCM) and
quaternions), orientation and velocity increments (∆q
and ∆v) and sensors data (acceleration, rate of turn,
magnetic field). The FMT1000-series module is
available as an Inertial Measurement Unit (IMU),
Vertical Reference Unit (VRU) and Attitude and Heading
Reference System (AHRS). Depending on the product,
output options may be limited to sensors data and/or
unreferenced yaw.
2.2
2.2.1
FMT1010 IMU
2.2.2
XKF3
TM
Sensor Fusion Algorithm
XKF3 is a sensor fusion algorithm, based on Extended
Kalman Filter framework that uses 3D inertial sensor
data (orientation and velocity increments) and 3D
magnetometer, also known as „9D‟ to optimally estimate
3D orientation with respect to an Earth fixed frame.
XKF3 takes the orientation and velocity increments
together with the magnetic field updates and fuses this
to produce a stable orientation (roll, pitch and yaw) with
respect to the earth fixed frame.
The XKF3 sensor fusion algorithm can be processed
with filter profiles. These filter profiles contain predefined
filter parameter settings suitable for different user
application scenarios.
FMT1020 VRU
The FMT1020 is a 3D vertical reference unit (VRU). Its
TM
orientation algorithm (XKF3 ) outputs 3D orientation
data with respect to a gravity referenced frame: drift-free
roll, pitch and unreferenced yaw. In addition, it outputs
calibrated sensor data: 3D acceleration, 3D rate of turn
and 3D earth-magnetic field data. All modules of the
FMT1000-series are also capable of outputting data
generated by the strap down integration algorithm (the
AttitudeEngine outputting orientation and velocity
increments ∆q and ∆v). The 3D acceleration is also
available as so-called free acceleration which has
gravity subtracted. Although the yaw is unreferenced,
though still superior to gyroscope integration. With the
feature Active Heading Stabilization (AHS, see section
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Strap-down Integration
The optimized strap-down algorithm (AttitudeEngine)
performs high-speed dead-reckoning calculations at
1 kHz allowing accurate capture of high frequency
motions. This approach ensures a high bandwidth.
Orientation and velocity increments are calculated with
full coning and sculling compensation. At an output data
rate of up to 100 Hz, no information is lost, yet the
output data rate can be configured low enough for
systems with limited communication bandwidth. These
orientation and velocity increments are suitable for any
3D motion tracking algorithm. Increments are internally
time-synchronized with the magnetometer data.
The FMT1010 module is an Inertial Measurement Unit
(IMU) that outputs 3D rate of turn, 3D acceleration and
3D magnetic field. The FMT1000-series also outputs
coning and sculling compensated orientation increments
and velocity increments (∆q and ∆v) from its
TM
AttitudeEngine . Advantages over a gyroscopeaccelerometer combo-sensor are the inclusion of
synchronized magnetic field data, on-board signal
processing and the easy-to-use communication
protocol. Moreover, the testing and calibration
performed by Fairchild result in a robust and reliable
sensor module, that can be integrated within a short
time frame. The signal processing pipeline and the suite
of output options allow access to the highest possible
accuracy at any bandwidth, limiting the load on the
application processor.
2.1.2
Signal Processing Pipeline
The FMT1000-series is a self-contained module, so all
calculations and processes such as sampling, coning
and sculling compensation and the XKF3 sensor fusion
algorithm run on board.
All FMT1000-series feature the Fairchild FIS1100 (an
accelerometer/gyroscope
combo-sensor),
a
magnetometer, a high-accuracy crystal and a low-power
MCU. The MCU coordinates the synchronization and
timing of the various sensors, it applies calibration
models (e.g. temperature modules) and output settings
and runs the sensor fusion algorithm. The MCU also
generates output messages according to the proprietary
XBus communication protocol. The messages and the
data output are fully configurable, so that the FMT1000series limits the load, and thus power consumption, on
the application processor.
2.1.1
FMT1030 AHRS
The FMT1030 supports all features of the FMT1010 and
FMT1020, and in addition is a full gyro-enhanced
Attitude and Heading Reference System (AHRS). It
outputs drift-free roll, pitch and true/magnetic North
referenced yaw and sensors data: 3D acceleration, 3D
rate of turn, as well as 3D orientation and velocity
increments (∆q and ∆v), and 3D earth-magnetic field
data. Free acceleration is also available for the
FMT1030 AHRS.
The following filter profiles are available:
General – suitable for most applications. Supported
by the FMT1030 module.
Dynamic – assumes that the motion is highly
dynamic. Supported by the FMT1030 module.
High_mag_dep – heading corrections rely on the
magnetic field measured. To be used when
magnetic field is homogeneous. Supported by the
FMT1030 module.
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FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
2 FMT1000-Series Architecture
Low_mag_dep – heading corrections are less dependent on the magnetic field measured. Heading is still based
on magnetic field, but more distortions are expected with less trust being placed on magnetic measurements.
Supported by the FMT1030 module.
VRU_general – Roll and pitch are the referenced to the vertical (gravity), yaw is determined by stabilized deadreckoning, referred to as Active Heading Stabilization (AHS) which significantly reduces heading drift, see also
section 7.2. Consider using VRU_general in environments that have a heavily disturbed magnetic field. The
VRU_general filter profile is the only filter profile available for the FMT1020 VRU, also supported by the
FMT1030 module
2.2.3
Frames of reference used in FMT1000-Series
The FMT1000-series module uses a right-handed coordinate system as the basis of the sensor of frame.
The following data is outputted in corresponding reference coordinate systems:
Table 6.
Frames of Reference used for FMT1000-Series Output
Data
Symbol
Acceleration
Reference Coordinate System
ax, ay, az
Sensor-fixed
Rate of Turn
ωx, ωy, ωz
Sensor-fixed
Magnetic Field
mx, my, mz
Sensor-fixed
Free Acceleration
Velocity Increment
Orientation Increment
ax, ay, az
Local Tangent Plane (LTP), default ENU
∆vx, ∆vy, ∆vz
Local Tangent Plane (LTP), default ENU
∆q0, ∆q1, ∆q2, ∆q3
Local Tangent Plane (LTP), default ENU
Euler angles, quaternions or rotation
Local Tangent Plane (LTP), default ENU
matrix
Local Tangent Plane (LTP) is a local linearization of the Ellipsoidal Coordinates (Latitude, Longitude, Altitude) in the
WGS-84 Ellipsoid.
Orientation
z
x
y
Figure 16.
Default Sensor fixed Coordinate System for the FMT1000-Series Module
Figure 1: Default sensor fixed coordinate system for the
It is straightforward to apply a rotation matrix
to the FMT,module
so that the velocity and orientation increments, free
FMT1000-series
acceleration and the orientation output is output using that coordinate frame. The default reference coordinate system
is East-North-Up (ENU) and the FMT1000-series has predefined output options for North-East-Down (NED) and
North-West-Up (NWU). Any arbitrary alignment can be entered. These orientation resets have effect on all outputs
that are by default outputted with an ENU reference coordinate system.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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16
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
3.1
3D Orientation Specifications
Table 7.
Orientation Specifications
Group
Parameter
Roll/pitch
Yaw (heading)
Typ.
Unit
Static
±2.0
deg
Allow filter initialization of at least 60 sec
Dynamic
±3.0
deg
Allow filter initialization of at least 60 sec
Static/dynamic,
Magnetic field referenced
±3.0
deg
FMT1030 AHRS only in a homogenous
magnetic field and a filter profile using
magnetic field as reference.
VRU_general filter profile
(unreferenced yaw)
5-10
deg after
60 min
Output data rate orientation
3.2
0-100
Comments
Active Heading Stabilization (AHS) feature.
See section 7.2 for more information.
Hz
Accuracy and latency independent of
output data rate. Output data rate may be
any integer divider of 100 Hz or may be
triggered by an external pulse (SYNC_IN)
Unit
Comments
Sensors Specifications
Table 8.
Gyroscope Specifications
Parameter
Full Range
Min.
Typ.
±2000
deg/s
Non-Linearity
<0.2
% of FS
Sensitivity Variation
±0.05
%
Noise Density
0.01
º/s/√Hz
10
deg/h
In-Run bias Stability
Over-Temperature Range
Zero-Rate Output
±1
deg/s
Bias variation after calibration, bias is
continuously estimated by XKF3i. The
estimated biases are cleared on a device
reset (including power cycle). Not applicable
for FMT-1010 modules.
Bias Repeatability (1 yr)
0.5
deg/s
The bias is continuously estimated by XKF3.
The estimated biases are cleared on a
device reset (including power cycle). Not
applicable for FMT1010 modules.
Bandwidth
200
Hz
Natural Frequency
26
kHz
This is the resonating frequency of the mass
in the gyro. The higher the frequency, the
higher the accuracy.
1000
Hz
RateOfTurnHR DataID only;
Acceleration DataID and velocity increments
up to 100 Hz
Output date rate
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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17
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
3 3D Orientation and Performance Specifications
Accelerometers Specifications
Parameter
Min.
Full Range
Typ.
Unit
±8
Non-Linearity
g
±1
Sensitivity Variation
Comments
% of FS
0.05
%
Noise Density
50
μg/√Hz
Zero-g Output
±50
mg
In-Run bias Stability
0.1
mg
Bandwidth
200
Hz
Output date rate
1000
Hz
Over-Temperature Range
AccelerationHR DataID only;
Rate of Turn DataID and orientation
increments up to 100 Hz
Table 10. Magnetometer Specifications
Parameter
Full Range
Min.
Typ.
Max.
±1.9
Unit.
Comments
Gauss
Non-Linearity
0.1
% of FS
Noise Density
200
μG/√Hz
Table 11. Alignment Specifications
Parameter
Typ.
Unit
Non-Orthogonality (Accelerometer)
0.1
deg
Non-Orthogonality (Gyroscope)
0.1
deg
Non-Orthogonality (Magnetometer)
0.1
deg
Alignment (gyr to acc)
0.1
deg
Alignment (mag to acc)
0.2
deg
Alignment of acc to the module board
0.3
deg
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Comments
www.fairchildsemi.com
18
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
Table 9.
Each FMT is individually calibrated and tested over its temperature range. The (simplified) sensor model of the
gyroscopes, accelerometers and magnetometers can be represented as following:
2
s
= sensor data of the gyroscopes, accelerometers and magnetometers in rad/s, m/s or a.u. respectively
KT
-1
= gain and misalignment matrix (temperature compensated)
u
= sensor value before calibration (unsigned 16-bit integers from the sensor)
bT
= bias (temperature compensated)
Fairchild‟s calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with
respect to the module PCB and each other and gain (scale factor). All calibration values are temperature dependent
and temperature calibrated. The calibration values are stored in non-volatile memory in the FMT1000-series.
5 System and Electrical Specifications
5.1
Interface Specifications
Table 12. Communication Interfaces
Interface
Description
2
Min.
Typ.
2
Max.
Units
IC
Host I C interface speed
400
kHz
SPI
Host SPI Interface Speed
2
MHz
50
70
%
921.6
4000
kbps
Clock Duty Sycle
UART
30
Baud Rates
Table 13. Auxiliary Interfaces
Interface
Description
SYNC_IN
VIL
nRST
5.2
Min.
Max.
Unit
0.3 * VDDIO
V
Digital Input Voltage
Digital Input Voltage
VIH
0.45 * VDDIO + 0.3
V
VHYS
0.45 * VDDIO + 0.3
V
VIL
RPU
30
Generated reset
pulse duration
20
Comments
0.3 * VDDIO
V
Only drive
momentarily
50
kΩ
Pull-up Resistor
µs
System Specifications
Table 14. System Specifications
Interface
Size
Description
Min.
Typ.
Max.
Unit
Width/Length
12.0
12.1
12.2
mm
Height
2.45
2.55
2.65
Weight
Temperature
0.66
PLCC-28 Compatible
mm
gram
Operating Temperature
-40
+85
ºC
Specified performance
Operating Temperature
0
+60
ºC
Power Consumption
44
mW
Timing Accuracy
10
ppm
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Comments
Ambient Temperature,
Non-Condensing
VDD 3.0 V; VDDIO 1.8 V
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FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
4 Sensor Calibration
Electrical Specifications
Table 15. Electrical Specifications
Parameter
Min.
Typ.
Max.
Unit
Comments
VDD
2.4
2.7
3.0
V
VDD should be applied first or
at the same time as VDDIO
VDDIO
1.80
1.98
V
0.3 * VDDIO
V
Digital Input Voltage
V
Digital Input Voltage
V
Digital Input Voltage
V
Digital Output Voltage
V
Digital Output Voltage
VIL
VIH
0.45 * VDDIO + 0.3
VHYS
0.45 * VDDIO + 0.3
VOL
0.4
VOH
5.4
VDDIO - 0.4
Absolute Maximum Ratings
Stresses exceeding the absolute maximum ratings may damage the device. The device may not function or be
operable above the recommended operating conditions and stressing the parts to these levels is not recommended.
In addition, extended exposure to stresses above the recommended operating conditions may affect device reliability.
The absolute maximum ratings are stress ratings only.
Symbol
TSTD
TA
Parameter
Min.
Max.
Unit
Storage Temperature
-40
+125
°C
OperatingTemperature
-40
+85
°C
VDD
0.3
3.60
V
VDDIO
0.3
2.05
V
10,000
g
±2000
V
Acceleration
ESD
(7)
Electrostatic Discharge
Capability
Human Body Model,
ANSI/ESDA/JEDEC
(8)
JS-001-2012
Comments
Any axis, unpowered,
for 0.2 ms
Notes:
7. This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part.
8. This is an ESD-sensitive device. Proper handling is required to prevent damage to the part.
5.5
Compliance
The FMT1000-series modules and FEBFMT1030 Evaluation Board are RoHS compliant. The FMT1000-series
modules are CE/FCC certified.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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20
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
5.3
The FMT1000-series module uses the proprietary Xbus protocol.
6.1
Message Structure
The communication with the MT is done by messages which are built according to a standard structure. The
message has two basic structures; one with a standard length and one with extended length. The standard length
message has a maximum of 254 data bytes and is used most frequently. In some cases the extended length
message needs to be used if the number of data bytes exceeds 254 bytes.
An MT message (standard length) contains the following fields:
Xbus header
Preamble
BID
MID
LEN
DATA
CHECKSUM
An MT message (extended length) contains these fields:
Preamble
BID
MID
ext
LEN
LEN
DATA
CHECKSUM
Table 16. Message Structure
Field
Field Width
Description
Preamble
1 byte
Indicator of start of packet 250 (0xFA)
BID
1 byte
Bus identifier or Address
MID
1 byte
Message identifier
255 (0xFF)
For standard length message:
LEN
1 byte
- Value equals number of bytes in DATA field.
- Maximum value is 254 (0xFE)
For extended length message:
- Field value is always 255 (0xFF)
EXT LEN
2 bytes
16 bit value representing the number of data bytes for extended
length messages. Maximum value is 2048 (0x0800)
The type of indication received
IND ID
1 byte
DATA (standard length)
0 – 254 bytes
DATA (extended length)
255 – 2048 bytes
Checksum
1 byte
Data bytes (optional)
Data bytes
Checksum of message
Details on the Xbus protocol message structure can be found in the Fairchild MT Low Level Communication Protocol
documentation.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
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21
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
6 FMT1000-Series Settings and Outputs
Output Settings
The section below only describes the most important set of MTData2 data messages. For all messages supported by
the FMT1000-series, refer to the Fairchild MT Low Level Communication Protocol documentation (LLCP).
The Output Configuration message sets the output of the device. Each data message has a DataID which consists of
a data type and a number format. Table 18 shows the most important MTData2 Data identifiers. The message
SetOutputconfiguration holds the DataID and the output frequency.
SetOutputConfiguration
MID
192 (0xC0)
DATA
OutputConfig (N*4 bytes)
Set the output configuration of the device.
The data is a list of maximum 32 data identifiers combined with a desired output frequency. The response message
contains a list with the same format, but with the values actually used by the device.
Each entry in the list contains:
Table 17. Output Configuration Parameters
Offset
Value
0
Data Identifier (2 bytes)
2
Output frequency (2 bytes)
Table 18. DataID’s
Group Name
(9)
Type Name
XDA Type Name
Timestamp
Hex Value
(10)
XDI_TimestampGroup
Packet Counter
XDI_PacketCounter
1020
Sample Time Fine
XDI_SampleTimeFine
1060
Orientation Data
XDI_OrientationGroup
Quaternion
XDI_Quaternion
201y
Rotation Matrix
XDI_RotationMatrix
202y
Euler Angles
XDI_EulerAngles
203y
Acceleration
XDI_AccelerationGroup
Delta V (dv)
XDI_DeltaV
401y
Acceleration
XDI_Acceleration
402y
Free Acceleration
XDI_FreeAcceleration
403y
XDI_AccelerationHR
404y
AccelerationHR
Angular Velocity
XDI_AngularVelocityGroup
Rate of Turn
XDI_RateOfTurn
802y
Delta Q (dq)
XDI_DeltaQ
803y
RateOfTurnHR
XDI_RateOfTurnHR
804y
Magnetic
XDI_MagneticGroup
Magnetic Field
XDI_MagneticField
Status
C02y
XDI_StatusGroup
Status Word
XDI_StatusWord
E020
Notes:
9. XDA: Communication protocol in C, to be used on external processors
10. y: The hex value of the Format bits (see Table 19 below). The value is formed by doing a bitwise OR of the
available fields.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
www.fairchildsemi.com
22
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
6.2
Field
Format
Description
Short Name
Precision
0x0
Single precision IEEE 32-bit floating point number
Float32
0x1
Fixed point 12.20 32-bit number
Fp1220
0x2
Fixed point 16.32 48-bit number
Fp1632
0x3
Double precision IEEE 64-bit floating point number
Float64
0x0
East-North-Up coordinate system
ENU
0x4
North-East-Down coordinate system
NED
0x8
North-West-Up
NWU
Coordinate System
Example: The DataID for quaternions in NED coordinate system with fixed point 16.32 number format is represented
as 0x2016.
6.3
MTData2
Data is represented in the MTData2 message.
MTData2
MID
54 (0x36)
DATA
DATA (length variable)
The MTData2 message contains output data according the current OutputConfiguration. An MTData2 message
consists of one or more packets, each containing a specific output. The layout of an MTData2 message is shown
below:
XBus
header
Packet #1
Packet #2
Packet #N
CS
…
Xbus Header
Preamble
BID
MID
LEN
0xFA
0xFF
0x36
..
DataID
Data LEN
Packet Data (Data LEN bytes)
An example data message is depicted below (explanation of the message, divided into parts, in the table):
FA FF 36 35 10 20 02 51 BC 10 60 04 00 21 49 AF 40 10 0C 39 B9 D8 00 B7 DD 80 00 3C C9 26 98 80 30 10 3F 80
00 01 B6 ED 60 01 36 94 A0 00 36 1E 60 00 E0 20 04 00 00 00 87 A0
Table 20. Example Data Message
Part of Message (0x)
Meaning
FA FF 36 35
Xbus Header with total length of message (0x35)
10 20 02 51 BC
DataID 0x1020 (Packet counter), length 0x02, data (0x51 BC)
10 60 04 00 21 49 AF
DataID 0x1060 (Sample Time fine), length 0x04, data
40 10 0C 39 B9 D8 00 B7 DD 80 00 3C C9 26 98
DataID 0x4010 (velocity increment), length 0x0C, data
80 30 10 3F 80 00 01 B6 ED 60 01 36 94 A0 00 36
1E 60 00
DataID 0x8030 (orientation increment), length 0x10, data
E0 20 04 00 00 00 87
DataID 0xE020 (StatusWord), length 0x04, data
A0
Checksum
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
www.fairchildsemi.com
23
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
Table 19. Format Bits
Synchronization and Timing
The FMT1000-series modules can easily be synchronized with other sensors or sensor systems. The FMT accepts a
pulse and can then transmit the latest available data. This SYNC_IN functionality does not influence the accuracy of
the data as internally the FMT1000-series keeps estimating the orientation at its maximum frequency. Acceleration
data and rate of turn data is also outputted with the shortest possible latency.
The Sync Settings are set with the SetSyncSettings message:
SetSyncSettings
MID
44 (0x2C)
DATA
Setting List (N*12 bytes)
Set the synchronization settings of the device
Settings
Each setting describes either a system event that should trigger a sync in event that should trigger a system action.
Table 21. SYNC_IN Setting
Offset
(bytes)
Setting
Size
(bytes)
0
Function
1
Value 8: Send Latest
1
Line
1
Value 2: SYNC_IN
2
Polarity
1
Which line transition to respond to? One of: Rising Edge (1),
Falling Edge (2) or Both (3)
4
Skip First
2
The number of initial events to skip before taking action.
6
Skip Factor
2
The number of events to skip after taking the action before
taking action again.
3
Ignored for FMT1000-series
8
10
Description
Ignored for FMT1000-series
Delay
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
2
Delay after receiving a sync pulse to taking action
(100 μs units, range [0..60000])
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24
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
6.4
Magnetic interference can be a major source of error for
the heading accuracy of any Attitude and Heading
Reference System (AHRS). As an AHRS uses the
magnetic field to reference the dead-reckoned
orientation on the horizontal plane with respect to the
(magnetic) North, a severe and prolonged distortion in
that magnetic field will cause the magnetic reference to
be inaccurate. The FMT1000-series module has several
ways to cope with these distortions to minimize the
effect on the estimated orientation.
7.1
7.2
It is often not possible or wanted to connect the
FMT1000-series module to a high-level processor/host
system, this makes the use of the Magnetic Field
Mapping procedure less desirable and cumbersome.
Also, when the distortion is non-deterministic the
Magnetic Field Mapping procedure does not yield the
desired result. For all these situations, the on-board
XKF3 sensor fusion algorithm has integrated an
algorithm called Active Heading Stabilization (AHS).
Magnetic Field Mapping
When the distortion is deterministic, i.e. when the
distortion moves with the FMT, the FMT can be
calibrated for this distortion this type of errors are
usually referred to as soft and hard iron distortions.
The Magnetic Field Mapping procedure compensates
for both hard-iron and soft-iron distortions.
The AHS algorithm delivers excellent heading tracking
accuracy, improving heading tracking in almost all
cases. There are rare occasions where environmental
conditions (e.g. specific movements in combination with
specific magnetic distortions) that could lead to a lesser
performance than expected. In most cases, heading
tracking drift in the FMT1000-series can be as low as 1
deg per hour, while being fully immune to magnetic
distortions.
In short, the magnetic field mapping (calibration) is
performed by moving the FMT together with the
object/platform that is causing the distortion. On an
external computer (Windows or Linux), the results are
processed and the updated magnetic field calibration
values are written to the non-volatile memory of the
FMT1000-series module. The magnetic field mapping
procedure is extensively documented in the Magnetic
Field Mapper User Manual, available in the Fairchild MT
Software Suite.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Active Heading Stabilization
(AHS)
AHS is only available in the VRU_general filter profile.
This filter profile is the only filter profile in the FMT1020
VRU and one of the 5 available filter profiles in the
FMT1030 AHRS.
www.fairchildsemi.com
25
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
7 Magnetic Interference
Note that this is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part.
Note that this is an ESD-sensitive device. Proper handling is required to prevent damage to the part.
Make sure not to apply force on the components of the FMT1000-series module, especially when placing the
FMT1000-series module in an IC-socket.
8.1
Package Drawing
The FMT1000-series module is compatible with JEDEC PLCC28 IC-sockets. For detailed information on the package
of the FMT1000, review the package documentation, available on the Fairchild website: MKT-FMT28Arev1.
2.6±0.10
8.80
1.27
13.20
1.47±0.10
13.20
1.6±0.10
TOP VIEW
.76
8.80
E
LAND PATTERN RECOMMENDATION
FRONT VIEW
NOTES:
A. NO INDUSTRY STANDARD APPLIES TO THIS
PACKAGE.
B. ALL DIMENSIONS ARE IN MILLIMETERS.
C. DIMENSIONS ARE EXCLUSIVE OF BURRS,
MOLD FLASH AND TIE BAR PROTRUSIONS.
12.1±0.10
1.68±0.05
12.1±0.10
D. DRAWING FILE NAME: MKT-FMT28Arev1
E. DON'T PLACE (EXPOSED) COPPER IN THE
HATCHED AREA.
1.27±0.05
.76±0.05
BOTTOM VIEW
Figure 17.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
FMT28_028 Package
www.fairchildsemi.com
26
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
8 Package and Handling
Figure 18.
8.2
Land Pattern Recommendation
Mounting Considerations
The module contains a Micro Electro Mechanical System (MEMS) chip and is therefore sensitive for stress applied on
the PCB. To minimize stress apply the following design rules for the PCB and housing.
Avoid stress on the PCB by screwing/mounting it in a housing, applying unequal or excessive forces to the mounting
positions. Ideally the PCB should be mounted using mechanical dampeners.
Avoid force applied on the PCB by push buttons; connectors etc. close to the FMT1000-series module.
Avoid heat sources close to the FMT1000-series
Avoid vibrations caused by speaker, buzzer etc.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
www.fairchildsemi.com
27
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
Below is the Land Pattern Recommendation for the FMT1000-series. In the hatched area, designated with (E), don‟t
place (exposed) copper.
Packaging
The FMT1000-series module is shipped in trays or reels. Trays containing 20 modules, according to the configuration
below. Reels contain 250 modules. Other quantities and packaging methods are available on request. Packaging
details can be found in the packaging specification PKG-FMT28TA on www.fairchildsemi.com.
Figure 19.
Tray Containing 20ea FMT1000-Series Modules
Reels are packaged according to the specification in PKG-FMT28RA, available on www.fairchildsemi.com.
8.4
Reflow Specification
The moisture sensitivity level of the FMT1000-series modules corresponds to JEDEC MSL Level 3, see also:
IPC/JEDEC J-STD-020E “Joint Industry Standard: Moisture/Reflow Sensitivity Classification for non-hermetic
Solid State Surface Mount Devices”
IPC/JEDEC J-STD-033C “Joint Industry Standard: Handling, Packing, Shipping and Use of Moisture/Reflow
Sensitive Surface Mount Devices”.
The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC standard, i.e. reflow
soldering with a peak temperature up to 260°C. Recommended Preheat Area (ts) is 80-100 sec. The minimum height
of the solder after reflow shall be at least 50 µm. This is required for good mechanical decoupling between the
FMT1000-series module and the Printed Circuit Board (PCB) it is mounted on. Assembled PCB‟s may NOT be
cleaned with ultrasonic cleaning.
Figure 20.
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
Reflow Profile
www.fairchildsemi.com
28
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
8.3
FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field
29
www.fairchildsemi.com
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0