User Guide for FEBFMT1030_MEMS01 Evaluation Board Motion Tracking Module with MT Software Suite Featured Fairchild Products: FEBFMT1030, FMT1030, FMT1020, FMT1010 For technical support, please contact Fairchild Semiconductor or your local sales team Fairchild Sales Offices (c) 2015 Fairchild Semiconductor Corporation FEBFMT1030_MEMS01 * Rev. 1.0 Table of Contents 1. Introduction ............................................................................................................................... 3 1.1. 1.2. 1.3. Description ....................................................................................................................... 3 Features ............................................................................................................................ 3 Ordering Information ....................................................................................................... 3 2. Photographs............................................................................................................................... 4 3. Getting Started .......................................................................................................................... 5 3.1. 3.2. 3.3. 3.4. 3.5. 3.6. Installing MT Software Suite ........................................................................................... 5 Displaying Data in MT Manager ..................................................................................... 6 Configuring the FMT with MT Manager ......................................................................... 7 Other Functionality of MT Manager ................................................................................ 8 Embedded Examples ........................................................................................................ 8 Frames of Reference used in FMT ................................................................................... 8 4. Package and Handling............................................................................................................. 10 4.1. 4.1. 4.2. 4.3. 4.4. 4.5. Evaluation Kit ................................................................................................................ 10 Pin Descriptions ............................................................................................................. 13 Schematics...................................................................................................................... 14 Physical Dimensions ...................................................................................................... 16 Electrical Specifications ................................................................................................. 16 Absolute Maximum Ratings........................................................................................... 17 5. Revision History ..................................................................................................................... 18 (c) 2015 Fairchild Semiconductor Corporation 2 FEBFMT1030_MEMS01 * Rev. 1.0 1. Introduction This user guide describes the Evaluation Kit for the FMT1030. The FMT1030 Evaluation Kit is designed to support the evaluation of the FMT1000-series, in particular the FMT1030 Attitude and Heading Reference System. 1.1. Description The FMT1000-series is a module outputting 3D orientation, 3D rate of turn, 3D acceleration and 3D magnetic field. It is specifically designed for industrial applications featuring vibration rejection, a robust sensor fusion algorithm and a high update rate. The FMT1000-series can be configured for any application. The FMT1000-series Evaluation Kit is an excellent tool to start working with the FMT1000-series. It has a pre-mounted FMT1030 AHRS and comes with the extensive MT Software Suite and USB-cabling. The MT Software Suite is full-featured, with logging and visualization options, intuitive configuration windows and possibilities to export data for use in other programs. The Software Development Kit contains source code for communication and libraries for data processing. The 24-pins header connects to all interfaces available on the FMT1000-series module. Connections with development platforms for Cortex-M processors of different brands can be made easy using the Fairchild examples on the mbed.org website. Specifications of the FMT1000-series can be found in the FMT1000-series data sheet. Figure 1. 1.2. FEBFMT1030_MEMS01 Development Board Features Easy to use Development Board Complete MT Software Suite o 1.3. MT Manager Logging and Visualization GUI Windows 7 and Linux o SDK for Windows, Linux o Source Code/Drivers (platform-independent) o Magnetic Field Mapper Drivers and Examples on ARM(R) mbedTM Full Functionality Delivered with FMT1030 Mounted USB, RS232, UART, SPI, I2C Interfaces Ordering Information Part Number Description FEBFMT1030_MEMS01 Evaluation Kit for FMT1030 AHRS (c) 2015 Fairchild Semiconductor Corporation 3 Packing Method Single unit FEBFMT1030_MEMS01 * Rev. 1.0 2. Photographs Figure 2. Top View of the FMT1000-Series Evaluation Board with the Various Components Figure 3. Bottom View of the FMT1000-Series Evaluation Board with the description of the header and switch. Text is displayed as see-through. (c) 2015 Fairchild Semiconductor Corporation 4 FEBFMT1030_MEMS01 * Rev. 1.0 3. Getting Started 3.1. Installing MT Software Suite The MT Software Suite is available on the Fairchild Motion Tracking website: https://www.fairchildsemi.com/product-technology/mems-module/. The installation procedure consists of a set of several installers and starts with this screen: Figure 4. (c) 2015 Fairchild Semiconductor Corporation MT Software Suite Installer Home Screen 5 FEBFMT1030_MEMS01 * Rev. 1.0 3.2. Displaying Data in MT Manager When the FEBFMT1030 is connected (the FEBFMT1030 will automatically be installed), click the 3D View icon: . This shows the 3D box representation of the FMT. Figure 5. The 3D Box View of the MT Manager The other visualizations can be opened using the windows toolbar: . Refer to the MT Manager User Manual for more information on these graphs and their features. The MT Manager User Manual can be found via Help - Documentation (c) 2015 Fairchild Semiconductor Corporation 6 FEBFMT1030_MEMS01 * Rev. 1.0 3.3. Configuring the FMT with MT Manager MT Manager is an excellent tool to configure the FMT. Click the Output Configuration button: The following screen appears: Figure 6. Output Configuration Window of a FEBFMT1030 By default, the output of the FMT is orientation only. Click "Inertial Data" (q/v or Rate of Turn/Acceleration) and "Magnetic Field" to be able to show this data in MT Manager. (c) 2015 Fairchild Semiconductor Corporation 7 FEBFMT1030_MEMS01 * Rev. 1.0 3.4. Other Functionality of MT Manager With the MT Manager, it is possible to record data and export that data for use in other programs, configure synchronization options and to review the test and calibration report. More information on the functions in MT Manager can be found in the MT Manager User Manual. 3.5. Embedded Examples The FMT is designed for easy integration in embedded systems. To aid in development example code is provided for the ARM mbed platform. An example implementation of the Xbus Low Level Communication Protocol is provided as generic C99 compliant source code1, while an ARM mbed specific application demonstrates the use of the Xbus library to communicate with a FEBFMT1030 Evaluation Board using UART, SPI or I2C communications. The example code has been tested with the following ARM mbed compatible boards: ST Nucleo F302R8 - Cortex M4 FreeScale FRDM-KL46Z - Cortex M0+ NXP EA LPC 4088 - Cortex M4 The example code is available at http://www.mbed.org/teams/Fairchild-Semiconductor. Documentation on how-to-use is provided on the description page and in the code. Note that these examples are provided as is and are not supported by the Fairchild support team. The examples are licensed under the Apache License version 2.0. Several basic commands were used, it is easy to extend the program with commands from the Low-Level Communication Protocol (LLCP). This protocol is documented in detail in the MT Software Suite and in the Low-Level Communication Protocol Documentation. 3.6. Frames of Reference used in FMT The FMT 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 1. Reference frame in FMT Data Symbol Reference Coordinate System Acceleration ax, ay, az Sensor-fixed Rate of turn x, y, z Sensor-fixed Magnetic Field mx, my, mz Sensor-fixed Free Acceleration a Local Tangent Plane (LTP), default ENU Velocity Increment vx, vy, vz Local Tangent Plane (LTP), default ENU Orientation Increment q0, q1, q2, q3 Local Tangent Plane (LTP), default ENU Orientation Euler Angles, Quaternions or Rotation Matrix (DCM) Local Tangent Plane (LTP), default ENU 1 Xbus example code is not specific to ARM processors and should be compatible with other embedded architectures. (c) 2015 Fairchild Semiconductor Corporation 8 FEBFMT1030_MEMS01 * Rev. 1.0 Local Tangent Plane (LTP) is a local linearization of the Ellipsoidal Coordinates (Latitude, Longitude, and Altitude) in the WGS-84 Ellipsoid. z x y Figure 7. Default Sensor Fixed System for the FMT It is straightforward to apply a rotation matrix to the FMT, so that the velocity and orientation increments, free acceleration and the orientation output are using that coordinate frame. The default reference coordinate system is East-North-Up (ENU) and the FMT1000-series has predefined outputs for North-East-Down (NED) and NorthWest-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. (c) 2015 Fairchild Semiconductor Corporation 9 FEBFMT1030_MEMS01 * Rev. 1.0 4. Package and Handling 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 MTi 1-series module, especially when placing the MTi 1-series module in an IC-socket. 4.1. Evaluation Kit The FMT1000-series is available as an Evaluation Kit. An FMT1030 AHRS is mounted in a PLCC-28 socket and connects to USB, RS232, UART, I2C and SPI. The FEBFMT1030_MEMS01 comes with MT Manager, an intuitive GUI for Linux and Windows, example code and example applications. The Development Board exposes the pins of the FMT on an easy to use 24-pins header allowing easy connectivity during prototyping. Figure 8. (c) 2015 Fairchild Semiconductor Corporation Layout of the FEBFMT1030_MEMS01 Evaluation Board 10 FEBFMT1030_MEMS01 * Rev. 1.0 Connections and Peripheral Switch The MTi Development Board has the following connections and switches: 24-pins dual row header with a pitch of 2.54 mm: Table 2 shows the connections. For information on the connections, refer to the pin description in Table 5. Refer to 0 how to enable the various interfaces on the Evaluation Board. Table 2. Connections on 24-Pins Header Pin# Name Pin# Name 1 VDD 2 VDDIO 3 GND 4 GND 5 nRST 6 NC 7 NC 8 NC 9 UART TX or I2C SCL 10 RS232-TX 11 UART RX or I2C SDA 12 RS232-RX 13 UART-RTS 14 RS232-RTS 15 UART-CTS or DRDY 16 RS232-CTS 17 SPI-SCK 18 GND 19 SPI-MISO 20 RESERVED 21 SPI-MOSI 22 SYNC_IN 23 SPI-nCS 24 GND Micro USB: the Evaluation Board has a micro USB connection that can be used to connect directly to a USB port on a PC or laptop. To enable the communication via USB, make sure to have the peripheral selection set to UART (full duplex). Peripheral switch: This switch sets the interface configuration of the 12.1 x 12.1 mm module in the socket of the Evaluation Board. Table 3. Settings for Switch Lever nr Name Description 1 VDDIO_3.0V Sets the VDDIO of UART, SPI and I2C to 3.0 V, if VDDIO is not supplied to pin #2 of the 24-pins connector. Setting a VDDIO, either external or with this lever, is required to properly define the voltage levels of SYNC_IN. 2 VDDIO_1.8V Sets the VDDIO of UART, SPI and I2C to 1.8 V, if VDDIO is not supplied to pin #2 of the 24-pins connector. When VDDIO_3.0 V is selected as well, VDDIO will be 3.0 V. Setting a VDDIO, either external or with this lever, is required to properly define the voltage levels of SYNC_IN. 3 PSEL0 4 PSEL1 0 0 UART_FD 1 0 UART_HD 0 1 SPI 1 1 IC PSEL1 5 RS232 6 NC Peripheral (1) PSEL0 2 Set this lever to 1 (high) to enable RS232 communication. Also, PSEL0 and 2 PSEL1 must be set to UART. This lever must be set to 0 to enable I C N/A Note: 1. The values for the peripheral selection on the switch are inverted with respect to the values on the module. (c) 2015 Fairchild Semiconductor Corporation 11 FEBFMT1030_MEMS01 * Rev. 1.0 Table 4. Switch Positions to Enable Interfaces on Development Board Interface PSEL0 PSEL1 RS232 UART FD 0 0 0 UART HD 1 0 0 USB 0 0 0 I2C 1 1 0 SPI 0 1 0 RS232 0 0 1 Figure 9. (c) 2015 Fairchild Semiconductor Corporation Comments When USB is detected, interface is USB When USB is detected, interface is USB When USB is detected, interface is USB 2 Switch to I C Interface and VDDIO of 3.0 V 12 FEBFMT1030_MEMS01 * Rev. 1.0 4.1. Pin Descriptions Table 5. Name Pin Descriptions of the FEBFMT1030_MEMS01 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 0. 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 nRST Active low reset pin, connect to VDDIO if not used 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 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 RS232-TX Receiver data input RS232-RX RS232-RTS RS232 interface RS232-CTS Transmitter data output Hardware flow control in RS232 mode (Ready-to-Send) Hardware flow control in RS232 mode (Clear-to-Send) SYNC_IN accepts a trigger which has the following functionality, depending on the configuration set in the firmware: SYNC_IN DRDY Sync interface Data ready It sends out the latest available data message, or It adjusts the bias of the clock onboard the MTi 2 Data ready pin indicates that data is available (SPI / I C) (c) 2015 Fairchild Semiconductor Corporation 13 FEBFMT1030_MEMS01 * Rev. 1.0 4.2. Schematics Peripheral selection USB 24 pins header (c) 2015 Fairchild Semiconductor Corporation 14 FEBFMT1030_MEMS01 * Rev. 1.0 RS232 Power Level Translators (c) 2015 Fairchild Semiconductor Corporation 15 FEBFMT1030_MEMS01 * Rev. 1.0 4.3. Physical Dimensions Figure 10. Physical Location of Components Figure 11. Outer Dimensions of the FEBFMT Board (PCB spacers are placed). 4.4. Electrical Specifications The FEBFMT1030 Evaluation Board has the same communication protocol as the FMT1000-series module. Table 6 shows the electrical specifications for the Development Board. Table 6. Input System Specifications Evaluation Board Description Min. Typ. Max. Unit VDD 3.3 5.5 V VDDIO 1.6 5.5 V SyncIn VIH 0.75 * VDDIO VIL (c) 2015 Fairchild Semiconductor Corporation V 0.25 * VDDIO 16 V FEBFMT1030_MEMS01 * Rev. 1.0 4.5. Absolute Maximum Ratings Table 7. Absolute Maximum Ratings FEBFMT1030 Parameter Min. Max. Unit Storage Temperature -40 +125 C Operating Temperature -30 +85 C VDD 0.3 6.0 V VDDIO 0.3 VDD + 0.5 V 7.0 V 10,000 g Any axis, unpowered, for 0.2 ms 2000 V Human Body Model VSYNC_IN (2) Acceleration (3) ESD Protection Comments Notes: 2. This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part. 3. This is an ESD-sensitive device. Proper handling is required to prevent damage to the part. (c) 2015 Fairchild Semiconductor Corporation 17 FEBFMT1030_MEMS01 * Rev. 1.0 5. Revision History Rev. Date Description 1.0 December 2015 Initial Release WARNING AND DISCLAIMER Replace components on the Evaluation Board only with those parts shown on the parts list (or Bill of Materials) in the Users' Guide. Contact an authorized Fairchild representative with any questions. This board is intended to be used by certified professionals, in a lab environment, following proper safety procedures. Use at your own risk. 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EXPORT COMPLIANCE STATEMENT These commodities, technology, or software were exported from the United States in accordance with the Export Administration Regulations for the ultimate destination listed on the commercial invoice. Diversion contrary to U.S. law is prohibited. U.S. origin products and products made with U.S. origin technology are subject to U.S Re-export laws. In the event of re-export, the user will be responsible to ensure the appropriate U.S. export regulations are followed. (c) 2015 Fairchild Semiconductor Corporation 18 FEBFMT1030_MEMS01 * Rev. 1.0