FMT1000 Datasheet, PDF (23/29 Pages) Fairchild Semiconductor – Motion Tracking Module with Output of Orientation, Inertial Motion Data and Magnetic Field

Table 19. Format Bits
Field
Format
Description
Precision
0x0
0x1
0x2
0x3
Coordinate System
0x0
0x4
0x8
Single precision IEEE 32-bit floating point number
Fixed point 12.20 32-bit number
Fixed point 16.32 48-bit number
Double precision IEEE 64-bit floating point number
East-North-Up coordinate system
North-East-Down coordinate system
North-West-Up
Short Name
Float32
Fp1220
Fp1632
Float64
ENU
NED
NWU
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
Pre- BID MID LEN
amble
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
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FMT1000-series • Rev. 1.0
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