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FMT1020R

FMT1020R

  • 厂商:

    ONSEMI(安森美)

  • 封装:

    LCC28

  • 描述:

    MEMS VRU MODULE ROLL + PITCH

  • 数据手册
  • 价格&库存
FMT1020R 数据手册
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 www.fairchildsemi.com 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 www.fairchildsemi.com 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). www.fairchildsemi.com 6 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 www.fairchildsemi.com 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 www.fairchildsemi.com 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 www.fairchildsemi.com 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 www.fairchildsemi.com 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) www.fairchildsemi.com 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 www.fairchildsemi.com 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) www.fairchildsemi.com 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. www.fairchildsemi.com 15 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 www.fairchildsemi.com 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
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