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January 2016

FMT1000-series • Rev. 1.0

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

FMT1000-series

Motion Tracking Module with Output of Orientation,

Inertial Motion Data and Magnetic Field

Features

 Complete module providing many user-configurable

outputs

 Incorporates Fairchild‟s highly accurate Inertial

Measurement Unit FIS1100

 Roll/Pitch Accuracy (Dynamic): 3.0 deg

 Heading Accuracy: 3.0 deg

 Minimal requirements on host processor

 No knowledge of inertial sensors signal processing

required for best performance

 Industry-leading signal processing pipeline

(AttitudeEngineTM) with vibration-rejection

 Short time to market with turn-key solution

 Drivers and examples on ARM® mbedTM

 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

 Agriculture and Heavy Machinery

 Miniature Aerial Vehicles (Drones)

 Image Stabilization and Platform Stabilization

 Pedestrian Dead-Reckoning

Related Resources

 FMT1010 Product Folder

 FMT1020 Product Folder

 FMT1030 Product Folder

 FEBFMT1030 User Guide

 FCS MT Manager User Guide

 FCS MFM User Guide

Description

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.

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.

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.

Figure 1. FMT1000-series Module

Product

Output

FMT1010

IMU

FMT1020

VRU

FMT1030

AHRS

Motion Data

●

Magnetic Field

●

Roll/Pitch

●

Heading

Tracking

●

Referenced Yaw

●

FMT1000-series • Rev. 1.0 2

FMT1000-series — 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 XKF3TM 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

FMT1000-series • Rev. 1.0 3

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1 General Information

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. FMT1000-Series Module Block Diagram

FMT1000-series • Rev. 1.0 4

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.3 Typical Application

Figure 3. Typical Application

1.4 Pin Configuration

Figure 4. Pin Assignment

FMT1000-series • Rev. 1.0 5

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.5 Pin Map

The pin map depends on the peripheral selection. See section 1.7 on how to set the peripherals.

Pin #

PSEL: I2C

PSEL: SPI

PSEL:

UART Half Duplex

PSEL:

UART Full Duplex

1

DNC

2

DNC

3

DNC

4

GND

5

VDD

6

nRST

7

VDDIO

8

GND

9

DNC

SPI_NCS

DNC

10

ADD2(2)

SPI_MOSI

DNC

11

ADD1

SPI_MISO

DNC

12

ADD0

SPI_SCK

DNC

13

GND

14

PSEL0

15

PSEL1

16

SYNC_IN

17

DNC

18

DNC

19

DNC

20

DNC

21

DNC

DE

RTS

22

DRDY

nRE

CTS(3)

23

I2C_SDA

DNC

UART_RX

24

I2C_SCL

DNC

UART_TX

25

GND

26

DNC

27

DNC

28

DNC

Notes:

2. I2C 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

FMT1000-series • Rev. 1.0 6

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.6 Pin Descriptions

Name

Type

Description

Power Interface

VDD

Power

Power supply voltage for sensing elements.

VDDIO

Power

Digital I/O supply voltage.

Controls

PSEL0

Selection Pins

These pins determine the signal interface. See table below. Note that when the

PSEL0/PSEL1 is not connected, its value is 1. When PSEL0/PSEL1 is connected

to GND, its value is 0.

PSEL1

nRST

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.

ADD2

Selection Pins

I2C address selection lines.

ADD1

ADD0

Signal Interface

I2C_SDA

I2C Interface

I2C serial data.

I2C_SCL

I2C serial clock.

SPI_nCS

SPI Interface

SPI chip select (active low).

SPI_MOSI

SPI serial data input (slave).

SPI_MISO

SPI serial data output (slave).

SPI_SCK

SPI serial clock.

RTS

UART

Interface

Hardware flow control in UART full duplex mode (Ready-to-Send).

CTS

Hardware flow control in UART full duplex mode (Clear-to-Send).

nRE

Receiver control signal in UART half duplex mode.

DE

Transmitter control signal in UART half duplex mode.

UART_RX

Receiver data input.

UART_TX

Transmitter data output.

SYNC_IN

Sync Interface

SYNC_IN accepts a trigger which sends out the latest available data message

DRDY

Data Ready

Data ready pin indicates that data is available (SPI / I2C).

FMT1000-series • Rev. 1.0 7

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.7 Peripheral Interface Selection

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

(I2C) and the Serial Peripheral Interface (SPI) protocols.

The I2C and SPI protocols are well suited for

communications between integrated circuits with on-

board 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/Fairchild-

Semiconductor

Table 1. Peripheral Interface Selection

Interface

PSEL0

PSEL1

I2C

1

SPI

0

1

UART Half-Duplex

1

0

UART Full-Duplex

0

1.7.1 Peripheral Interface Architecture

At its core the module uses the proprietary Xbus

protocol. This protocol is available on all interfaces,

UART (asynchronous serial port interfaces) and I2C and

SPI buses. The I2C 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

messages over the I2C 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

messages. For I2C and SPI these messages are

translated by the MTSSP layer. For the UART

connection these messages are transported as-is.

Figure 5. FMT Module Architecture

FMT1000-series • Rev. 1.0 8

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.7.2 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

The communication protocol used for both I2C and SPI

is called MTSSP (MT Synchronous Serial Protocol).

Data Flow

MTSSP communication happens according the master-

slave model. The FMT1000-series module will always

fulfill the slave-role while the user/integrator of the

module is always the Master.

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).

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.

The following diagram shows data flow between Master

and module:

Figure 6. Data Flows within MTSSP

Data Ready 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

again. The Master can change the behavior of the

DRDY signal.

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. Opcodes for SPI and I2C

Opcode

Name

Read/Write

Description

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

FMT1000-series • Rev. 1.0 9

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

ProtocolInfo (0x01)

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

FMT1000-series • Rev. 1.0 10

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

ControlPipe (0x03)

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

FMT1000-series • Rev. 1.0 11

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.7.4 I2C

The FMT1000-series supports the I2C transport layer. The FMT1000-series module acts as an I2C Slave. The Master

is defined as the user of the FMT1000-series module.

The I2C 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. List of I2C Addresses

I2C Address

ADD0

ADD1

ADD2

0x1D

0

0x1E

1

0

0x28

0

1

0

0x29

1

0

0x68

0

1

0x69

1

0

1

0x6A

0

1

0x6B (default)

1

Table 4. Implemented I2C Bus Protocol Features

Feature

Slave Requirement

FMT1000-Series

7-Bit Slave Address

Mandatory

Yes

10-Bit Slave Address

Optional

No

Acknowledge

Mandatory

Yes

Arbitration

N/A

Clock Stretching

Optional

Yes(4)

Device ID

Optional

No

General Call Address

Optional

No

Software Reset

Optional

No

START byte

N/A

START Condition

Mandatory

Yes

STOP Condition

Mandatory

Yes

Synchronization

N/A

Note:

4. The FMT1000-series module relies on the I2C 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.

Based on the opcode the module will prepare the related data to be transmitted. The Master then can do an I2C 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. Read Message Transfer using a Repeated Start (I2C)

FMT1000-series • Rev. 1.0 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:

Figure 8. Full Write Transfer and Full Read Transfer (I2C)

1.7.5 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.

SPI Configuration

The FMT1000-series supports 4-wire mode SPI. The

four lines used are:

 Chipselect (SPI_nCS)

 Serial Clock (SPI_SCK)

 Master data in, slave data out (SPI_MISO)

 Master data out, slave data in (SPI_MOSI)

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);

Data is clocked-out MSB first. The module uses an 8-bit

data format

Data Transfer

There is a single type of SPI transfer used for all

communications. The diagram below shows the basic

transfer.

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 Master places the data it needs to transmit on the

SPI_MOSI line. The Slave will place its data on the

SPI_MISO line.

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).

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 FMT1000-

series module are always 0xFA, 0xFF, 0xFF, 0xFF.

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.

Timing

The following timing constraints apply to the SPI transport layer.

Figure 10. SPI Timing

FMT1000-series • Rev. 1.0 13

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

Table 5. Timing Specifications

Symbol

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

2

Mbit

1.7.6 UART Half Duplex

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.

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.

Figure 11. Behavior of the nRE and DE Lines

Note that in this mode the UART of the FMT1000-series

itself is still operating full duplex.

1.7.7 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.

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:

Figure 12. 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

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:

Figure 13. 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.

FMT1000-series • Rev. 1.0 14

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

1.8 Recommended External Components

Description

Component

Typical value

I2C Pull-up Resistor

Rpu

2.7 kΩ

Notes:

5. Rpu is only needed when the FMT1000-series is configured for I2C interface.

6. RPSEL is only required when interface is not I2C.

Figure 14. External Components

(I2C Interface)

Figure 15. External Components

(UART Interface)

FMT1000-series • Rev. 1.0 15

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

2 FMT1000-Series Architecture

This section discusses the FMT1000-series architecture

including the various configurations and the signal

processing pipeline.

2.1 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.

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 FMT1000-

series limits the load, and thus power consumption, on

the application processor.

2.1.1 FMT1010 IMU

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

AttitudeEngineTM. Advantages over a gyroscope-

accelerometer 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 FMT1020 VRU

The FMT1020 is a 3D vertical reference unit (VRU). Its

orientation algorithm (XKF3TM) 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

7.2) the drift in unreferenced yaw can be limited to 1 deg

after 60 minutes, even in magnetically disturbed

environments.

2.1.3 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.

2.2 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.

2.2.1 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.

2.2.2 XKF3TM 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.

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.

FMT1000-series • Rev. 1.0 16

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

 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 dead-

reckoning, 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

Reference Coordinate System

Acceleration

ax, ay, az

Sensor-fixed

Rate of Turn

ωx, ωy, ωz

Sensor-fixed

Magnetic Field

mx, my, mz

Sensor-fixed

Free Acceleration

ax, ay, az

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

Local Tangent Plane (LTP), default ENU

Local Tangent Plane (LTP) is a local linearization of the Ellipsoidal Coordinates (Latitude, Longitude, Altitude) in the

WGS-84 Ellipsoid.

Figure 16. Default Sensor fixed Coordinate System for the FMT1000-Series Module

It is straightforward to apply a rotation matrix to the FMT, so that the velocity and orientation increments, free

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.

z

x

y

Figure 1: Default sensor fixed coordinate system for the

FMT1000-series module

FMT1000-series • Rev. 1.0 17

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

3 3D Orientation and Performance Specifications

3.1 3D Orientation Specifications

Table 7. Orientation Specifications

Group

Parameter

Typ.

Unit

Comments

Roll/pitch

Static

±2.0

deg

Allow filter initialization of at least 60 sec

Dynamic

±3.0

deg

Allow filter initialization of at least 60 sec

Yaw (heading)

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

Active Heading Stabilization (AHS) feature.

See section 7.2 for more information.

Output data rate orientation

0-100

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)

3.2 Sensors Specifications

Table 8. Gyroscope Specifications

Parameter

Min.

Typ.

Unit

Comments

Full Range

±2000

deg/s

Non-Linearity

<0.2

% of FS

Sensitivity Variation

±0.05

%

Over-Temperature Range

Noise Density

0.01

º/s/√Hz

In-Run bias Stability

10

deg/h

Zero-Rate Output

±1

deg/s

Bias variation after calibration, bias is

continuously estimated by XKF3i. The

estimated biases are cleared on a device

reset (including power cycle). Not applicable

for FMT-1010 modules.

Bias Repeatability (1 yr)

0.5

deg/s

The bias is continuously estimated by XKF3.

The estimated biases are cleared on a

device reset (including power cycle). Not

applicable for FMT1010 modules.

Bandwidth

200

Hz

Natural Frequency

26

kHz

This is the resonating frequency of the mass

in the gyro. The higher the frequency, the

higher the accuracy.

Output date rate

1000

Hz

RateOfTurnHR DataID only;

RateOfTurn DataID and velocity increments

up to 100 Hz

FMT1000-series • Rev. 1.0 18

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

Table 9. Accelerometers Specifications

Parameter

Min.

Typ.

Unit

Comments

Full Range

±8

g

Non-Linearity

±1

% of FS

Sensitivity Variation

0.05

%

Over-Temperature Range

Noise Density

50

μg/√Hz

Zero-g Output

±50

mg

In-Run bias Stability

0.1

mg

Bandwidth

200

Hz

Output date rate

1000

Hz

AccelerationHR DataID only;

Acceleration DataID and orientation

increments up to 100 Hz

Table 10. Magnetometer Specifications

Parameter

Min.

Typ.

Max.

Unit.

Comments

Full Range

±1.9

Gauss

Non-Linearity

0.1

% of FS

Noise Density

200

μG/√Hz

Table 11. Alignment Specifications

Parameter

Typ.

Unit

Comments

Non-Orthogonality (Accelerometer)

0.1

deg

Non-Orthogonality (Gyroscope)

0.1

deg

Non-Orthogonality (Magnetometer)

0.1

deg

Alignment (gyr to acc)

0.1

deg

Alignment (mag to acc)

0.2

deg

Alignment of acc to the module board

0.3

deg

FMT1000-series • Rev. 1.0 19

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

4 Sensor Calibration

Each FMT is individually calibrated and tested over its temperature range. The (simplified) sensor model of the

gyroscopes, accelerometers and magnetometers can be represented as following:

  

󰇛  󰇜

s = sensor data of the gyroscopes, accelerometers and magnetometers in rad/s, m/s2 or a.u. respectively

KT-1 = gain and misalignment matrix (temperature compensated)

u = sensor value before calibration (unsigned 16-bit integers from the sensor)

bT = bias (temperature compensated)

Fairchild‟s calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with

respect to the module PCB and each other and gain (scale factor). All calibration values are temperature dependent

and temperature calibrated. The calibration values are stored in non-volatile memory in the FMT1000-series.

5 System and Electrical Specifications

5.1 Interface Specifications

Table 12. Communication Interfaces

Interface

Description

Min.

Typ.

Max.

Units

I2C

Host I2C interface speed

400

kHz

SPI

Host SPI Interface Speed

2

MHz

Clock Duty Sycle

30

50

70

%

UART

Baud Rates

921.6

4000

kbps

Table 13. Auxiliary Interfaces

Interface

Description

Min.

Max.

Unit

Comments

SYNC_IN

VIL

0.3 * VDDIO

V

Digital Input Voltage

VIH

0.45 * VDDIO + 0.3

V

Digital Input Voltage

VHYS

0.45 * VDDIO + 0.3

V

nRST

VIL

0.3 * VDDIO

V

Only drive

momentarily

RPU

30

50

kΩ

Pull-up Resistor

Generated reset

pulse duration

20

µs

5.2 System Specifications

Table 14. System Specifications

Interface

Description

Min.

Typ.

Max.

Unit

Comments

Size

Width/Length

12.0

12.1

12.2

mm

PLCC-28 Compatible

Height

2.45

2.55

2.65

mm

Weight

0.66

gram

Temperature

Operating Temperature

-40

+85

ºC

Ambient Temperature,

Non-Condensing

Specified performance

Operating Temperature

0

+60

ºC

Power Consumption

44

mW

VDD 3.0 V; VDDIO 1.8 V

Timing Accuracy

10

ppm

FMT1000-series • Rev. 1.0 20

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

5.3 Electrical Specifications

Table 15. Electrical Specifications

Parameter

Min.

Typ.

Max.

Unit

Comments

VDD

2.4

2.7

3.0

V

VDD should be applied first or

at the same time as VDDIO

VDDIO

1.80

1.98

V

VIL

0.3 * VDDIO

V

Digital Input Voltage

VIH

0.45 * VDDIO + 0.3

V

Digital Input Voltage

VHYS

0.45 * VDDIO + 0.3

V

Digital Input Voltage

VOL

0.4

V

Digital Output Voltage

VOH

VDDIO - 0.4

V

Digital Output Voltage

5.4 Absolute Maximum Ratings

Stresses exceeding the absolute maximum ratings may damage the device. The device may not function or be

operable above the recommended operating conditions and stressing the parts to these levels is not recommended.

In addition, extended exposure to stresses above the recommended operating conditions may affect device reliability.

The absolute maximum ratings are stress ratings only.

Symbol

Parameter

Min.

Max.

Unit

Comments

TSTD

Storage Temperature

-40

+125

°C

TA

OperatingTemperature

-40

+85

°C

VDD

0.3

3.60

V

VDDIO

0.3

2.05

V

Acceleration (7)

10,000

g

Any axis, unpowered,

for 0.2 ms

ESD

Electrostatic Discharge

Capability

Human Body Model,

ANSI/ESDA/JEDEC

JS-001-2012(8)

±2000

V

Notes:

7. This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part.

8. This is an ESD-sensitive device. Proper handling is required to prevent damage to the part.

5.5 Compliance

The FMT1000-series modules and FEBFMT1030 Evaluation Board are RoHS compliant. The FMT1000-series

modules are CE/FCC certified.

FMT1000-series • Rev. 1.0 21

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

6 FMT1000-Series Settings and Outputs

The FMT1000-series module uses the proprietary Xbus protocol.

6.1 Message Structure

The communication with the MT is done by messages which are built according to a standard structure. The

message has two basic structures; one with a standard length and one with extended length. The standard length

message has a maximum of 254 data bytes and is used most frequently. In some cases the extended length

message needs to be used if the number of data bytes exceeds 254 bytes.

An MT message (standard length) contains the following fields:

Xbus header

Preamble

BID

MID

LEN

DATA

CHECKSUM

An MT message (extended length) contains these fields:

Preamble

BID

MID

LENext

LEN

DATA

CHECKSUM

Table 16. Message Structure

Details on the Xbus protocol message structure can be found in the Fairchild MT Low Level Communication Protocol

documentation.

Field

Field Width

Description

Preamble

1 byte

Indicator of start of packet  250 (0xFA)

BID

1 byte

Bus identifier or Address  255 (0xFF)

MID

1 byte

Message identifier

LEN

1 byte

For standard length message:

- Value equals number of bytes in DATA field.

- Maximum value is 254 (0xFE)

For extended length message:

- Field value is always 255 (0xFF)

EXT LEN

2 bytes

16 bit value representing the number of data bytes for extended

length messages. Maximum value is 2048 (0x0800)

IND ID

1 byte

The type of indication received

DATA (standard length)

0 – 254 bytes

Data bytes (optional)

DATA (extended length)

255 – 2048 bytes

Data bytes

Checksum

1 byte

Checksum of message

FMT1000-series • Rev. 1.0 22

FMT1000-series — 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

Value

0

Data Identifier (2 bytes)

2

Output frequency (2 bytes)

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.

FMT1000-series • Rev. 1.0 23

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

Table 19. Format Bits

Field

Format

Description

Short Name

Precision

0x0

Single precision IEEE 32-bit floating point number

Float32

0x1

Fixed point 12.20 32-bit number

Fp1220

0x2

Fixed point 16.32 48-bit number

Fp1632

0x3

Double precision IEEE 64-bit floating point number

Float64

Coordinate System

0x0

East-North-Up coordinate system

ENU

0x4

North-East-Down coordinate system

NED

0x8

North-West-Up

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-

amble

BID

MID

LEN

DataID

Data LEN

Packet Data (Data LEN bytes)

0xFA

0xFF

0x36

..

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

FMT1000-series • Rev. 1.0 24

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

6.4 Synchronization and Timing

The FMT1000-series modules can easily be synchronized with other sensors or sensor systems. The FMT accepts a

pulse and can then transmit the latest available data. This SYNC_IN functionality does not influence the accuracy of

the data as internally the FMT1000-series keeps estimating the orientation at its maximum frequency. Acceleration

data and rate of turn data is also outputted with the shortest possible latency.

The Sync Settings are set with the SetSyncSettings message:

SetSyncSettings

MID 44 (0x2C)

DATA Setting List (N*12 bytes)

Set the synchronization settings of the device

Settings

Each setting describes either a system event that should trigger a sync in event that should trigger a system action.

Table 21. SYNC_IN Setting

Offset

(bytes)

Setting

Size

(bytes)

Description

0

Function

1

Value 8: Send Latest

1

Line

1

Value 2: SYNC_IN

2

Polarity

1

Which line transition to respond to? One of: Rising Edge (1),

Falling Edge (2) or Both (3)

3

Ignored for FMT1000-series

4

Skip First

2

The number of initial events to skip before taking action.

6

Skip Factor

2

The number of events to skip after taking the action before

taking action again.

8

Ignored for FMT1000-series

10

Delay

2

Delay after receiving a sync pulse to taking action

(100 μs units, range [0..60000])

FMT1000-series • Rev. 1.0 25

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

7 Magnetic Interference

Magnetic interference can be a major source of error for

the heading accuracy of any Attitude and Heading

Reference System (AHRS). As an AHRS uses the

magnetic field to reference the dead-reckoned

orientation on the horizontal plane with respect to the

(magnetic) North, a severe and prolonged distortion in

that magnetic field will cause the magnetic reference to

be inaccurate. The FMT1000-series module has several

ways to cope with these distortions to minimize the

effect on the estimated orientation.

7.1 Magnetic Field Mapping

When the distortion is deterministic, i.e. when the

distortion moves with the FMT, the FMT can be

calibrated for this distortion this type of errors are

usually referred to as soft and hard iron distortions.

The Magnetic Field Mapping procedure compensates

for both hard-iron and soft-iron distortions.

In short, the magnetic field mapping (calibration) is

performed by moving the FMT together with the

object/platform that is causing the distortion. On an

external computer (Windows or Linux), the results are

processed and the updated magnetic field calibration

values are written to the non-volatile memory of the

FMT1000-series module. The magnetic field mapping

procedure is extensively documented in the Magnetic

Field Mapper User Manual, available in the Fairchild MT

Software Suite.

7.2 Active Heading Stabilization

(AHS)

It is often not possible or wanted to connect the

FMT1000-series module to a high-level processor/host

system, this makes the use of the Magnetic Field

Mapping procedure less desirable and cumbersome.

Also, when the distortion is non-deterministic the

Magnetic Field Mapping procedure does not yield the

desired result. For all these situations, the on-board

XKF3 sensor fusion algorithm has integrated an

algorithm called Active Heading Stabilization (AHS).

The AHS algorithm delivers excellent heading tracking

accuracy, improving heading tracking in almost all

cases. There are rare occasions where environmental

conditions (e.g. specific movements in combination with

specific magnetic distortions) that could lead to a lesser

performance than expected. In most cases, heading

tracking drift in the FMT1000-series can be as low as 1

deg per hour, while being fully immune to magnetic

distortions.

AHS is only available in the VRU_general filter profile.

This filter profile is the only filter profile in the FMT1020

VRU and one of the 5 available filter profiles in the

FMT1030 AHRS.

FMT1000-series • Rev. 1.0 26

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

8 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 FMT1000-series module, especially when placing the

FMT1000-series module in an IC-socket.

8.1 Package Drawing

The FMT1000-series module is compatible with JEDEC PLCC28 IC-sockets. For detailed information on the package

of the FMT1000, review the package documentation, available on the Fairchild website: MKT-FMT28Arev1.

Figure 17. FMT28_028 Package

NOTES:

A. NO INDUSTRY STANDARD APPLIES TO THIS

PACKAGE.

B. ALL DIMENSIONS ARE IN MILLIMETERS.

C. DIMENSIONS ARE EXCLUSIVE OF BURRS,

MOLD FLASH AND TIE BAR PROTRUSIONS.

D. DRAWING FILE NAME: MKT-FMT28Arev1

E. DON'T PLACE (EXPOSED) COPPER IN THE

HATCHED AREA.

TOP VIEW

LAND PATTERN RECOMMENDATION

BOTTOM VIEW

FRONT VIEW

1.47±0.10

1.6±0.10

2.6±0.10

1.27±0.05

12.1±0.10

.76±0.05

1.68±0.05

1.27

8.80

13.20

8.80

.76

13.20

E

FMT1000-series • Rev. 1.0 27

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

Below is the Land Pattern Recommendation for the FMT1000-series. In the hatched area, designated with (E), don‟t

place (exposed) copper.

Figure 18. Land Pattern Recommendation

8.2 Mounting Considerations

The module contains a Micro Electro Mechanical System (MEMS) chip and is therefore sensitive for stress applied on

the PCB. To minimize stress apply the following design rules for the PCB and housing.

Avoid stress on the PCB by screwing/mounting it in a housing, applying unequal or excessive forces to the mounting

positions. Ideally the PCB should be mounted using mechanical dampeners.

 Avoid force applied on the PCB by push buttons; connectors etc. close to the FMT1000-series module.

 Avoid heat sources close to the FMT1000-series

 Avoid vibrations caused by speaker, buzzer etc.

FMT1000-series • Rev. 1.0 28

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

8.3 Packaging

The FMT1000-series module is shipped in trays or reels. Trays containing 20 modules, according to the configuration

below. Reels contain 250 modules. Other quantities and packaging methods are available on request. Packaging

details can be found in the packaging specification PKG-FMT28TA on www.fairchildsemi.com.

Figure 19. Tray Containing 20ea FMT1000-Series Modules

Reels are packaged according to the specification in PKG-FMT28RA, available on www.fairchildsemi.com.

8.4 Reflow Specification

The moisture sensitivity level of the FMT1000-series modules corresponds to JEDEC MSL Level 3, see also:

 IPC/JEDEC J-STD-020E “Joint Industry Standard: Moisture/Reflow Sensitivity Classification for non-hermetic

Solid State Surface Mount Devices”

 IPC/JEDEC J-STD-033C “Joint Industry Standard: Handling, Packing, Shipping and Use of Moisture/Reflow

Sensitive Surface Mount Devices”.

The sensor fulfils the lead-free soldering requirements of the above-mentioned IPC/JEDEC standard, i.e. reflow

soldering with a peak temperature up to 260°C. Recommended Preheat Area (ts) is 80-100 sec. The minimum height

of the solder after reflow shall be at least 50 µm. This is required for good mechanical decoupling between the

FMT1000-series module and the Printed Circuit Board (PCB) it is mounted on. Assembled PCB‟s may NOT be

cleaned with ultrasonic cleaning.

Figure 20. Reflow Profile

FMT1000-series • Rev. 1.0 29

FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field

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