FMT1000 Datasheet, PDF (2/29 Pages) Fairchild Semiconductor – Motion Tracking Module with Output of Orientation, Inertial Motion Data and Magnetic Field

Table of Contents
1 General Information............................................................................................................. 3
1.1 ORDERING INFORMATION...............................................................................................................................3
1.2 BLOCK DIAGRAM ..........................................................................................................................................3
1.3 TYPICAL APPLICATION ...................................................................................................................................4
1.4 PIN CONFIGURATION ..................................................................................................................................... 4
1.5 PIN MAP ...................................................................................................................................................... 5
1.6 PIN DESCRIPTIONS .......................................................................................................................................6
1.7 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
1.7.4 I²C .................................................................................................................................................. 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
2.2.2 XKF3^TM Sensor Fusion Algorithm...................................................................................................15
2.2.3 Frames of reference used in FMT1000-Series...............................................................................16
3 3D Orientation and Performance Specifications ................................................................ 17
3.1 3D ORIENTATION SPECIFICATIONS ............................................................................................................... 17
3.2 SENSORS SPECIFICATIONS .......................................................................................................................... 17
4 Sensor Calibration............................................................................................................. 19
5 System and Electrical Specifications ................................................................................. 19
5.1 INTERFACE SPECIFICATIONS ........................................................................................................................ 19
5.2 SYSTEM SPECIFICATIONS ............................................................................................................................ 19
5.3 ELECTRICAL SPECIFICATIONS....................................................................................................................... 20
5.4 ABSOLUTE MAXIMUM RATINGS ..................................................................................................................... 20
5.5 COMPLIANCE..............................................................................................................................................20
6 FMT1000-Series Settings and Outputs.............................................................................. 21
6.1 MESSAGE STRUCTURE ................................................................................................................................ 21
6.2 OUTPUT SETTINGS ..................................................................................................................................... 22
6.3 MTDATA2.................................................................................................................................................. 23
6.4 SYNCHRONIZATION AND TIMING.................................................................................................................... 24
7 Magnetic Interference........................................................................................................ 25
7.1 MAGNETIC FIELD MAPPING .......................................................................................................................... 25
7.2 ACTIVE HEADING STABILIZATION (AHS)........................................................................................................25
8 Package and Handling ...................................................................................................... 26
8.1 PACKAGE DRAWING ....................................................................................................................................26
8.2 MOUNTING CONSIDERATIONS....................................................................................................................... 27
8.3 PACKAGING................................................................................................................................................28
8.4 REFLOW SPECIFICATION.............................................................................................................................. 28
© 2015 Fairchild Semiconductor Corporation
FMT1000-series • Rev. 1.0
2
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