FMT1000 Datasheet, PDF (22/29 Pages) Fairchild Semiconductor – Motion Tracking Module with Output of Orientation, Inertial Motion Data and Magnetic Field

6.2 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
0
2
Data Identifier (2 bytes)
Output frequency (2 bytes)
Value
Table 18. DataID’s
Group Name
Type Name
XDA Type Name⁽⁹⁾
Hex Value⁽¹⁰⁾
Timestamp
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
AccelerationHR
XDI_AccelerationHR
404y
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
C02y
Status
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
22
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