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ON Semiconductor is an Equal Opportunity/Affirmative Action Employer. This literature is subject to all applicable copyright laws and is not for resale in any manner. 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 Fairchilds 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 (R) 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 The high data rates of up to 1 kHz and orientation accuracy of 3.0 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. Light Industrial and Robotics VR/AR GNSS Augmentation and Dead Reckoning Product FMT1010 IMU FMT1020 VRU FMT1030 AHRS Motion Data Magnetic Field Output 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 FMT1010 Product Folder FMT1020 Product Folder FMT1030 Product Folder FEBFMT1030 User Guide FCS MT Manager User Guide FCS MFM User Guide Figure 1. (c) 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 January 2016 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 (c) 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. (c) 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. (c) 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 RTS 22 DRDY DRDY nRE CTS 3 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 ( ) 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 (c) 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 (c) 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. (c) 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 (c) 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 (c) 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 (c) 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 Clock Stretching Optional Yes 4 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 Acknowledge Arbitration 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. (c) 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. (c) 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 s T2 Byte time 4 s T3 Consecutive SPI transfer guard time 3 s 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 FMTs 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. (c) 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 k 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. (c) 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 (c) 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 x, y, z 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. (c) 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 <0.2 % of FS Sensitivity Variation 0.05 % Noise Density 0.01 /s/Hz 10 deg/h In-Run bias Stability Over-Temperature Range 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. 1000 Hz RateOfTurnHR DataID only; RateOfTurn DataID and velocity increments up to 100 Hz Output date rate (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 www.fairchildsemi.com 17 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 3 3D Orientation and Performance Specifications Accelerometers Specifications Parameter Min. Full Range Typ. Unit 8 Non-Linearity g 1 Sensitivity Variation Comments % of FS 0.05 % Noise Density 50 g/Hz Zero-g Output 50 mg In-Run bias Stability 0.1 mg Bandwidth 200 Hz Output date rate 1000 Hz Over-Temperature Range AccelerationHR DataID only; Acceleration DataID and orientation increments up to 100 Hz Table 10. Magnetometer Specifications Parameter Full Range Min. Typ. Max. 1.9 Unit. Comments Gauss Non-Linearity 0.1 % of FS Noise Density 200 G/Hz Table 11. Alignment Specifications Parameter Typ. Unit 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 (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 Comments www.fairchildsemi.com 18 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field Table 9. 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: 2 s = sensor data of the gyroscopes, accelerometers and magnetometers in rad/s, m/s 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) Fairchilds 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 2 Min. Typ. 2 Max. Units IC Host I C interface speed 400 kHz SPI Host SPI Interface Speed 2 MHz 50 70 % 921.6 4000 kbps Clock Duty Sycle UART 30 Baud Rates Table 13. Auxiliary Interfaces Interface Description SYNC_IN VIL nRST 5.2 Min. Max. Unit 0.3 * VDDIO V Digital Input Voltage Digital Input Voltage VIH 0.45 * VDDIO + 0.3 V VHYS 0.45 * VDDIO + 0.3 V VIL RPU 30 Generated reset pulse duration 20 Comments 0.3 * VDDIO V Only drive momentarily 50 k Pull-up Resistor s System Specifications Table 14. System Specifications Interface Size Description Min. Typ. Max. Unit Width/Length 12.0 12.1 12.2 mm Height 2.45 2.55 2.65 Weight Temperature 0.66 PLCC-28 Compatible mm gram Operating Temperature -40 +85 C Specified performance Operating Temperature 0 +60 C Power Consumption 44 mW Timing Accuracy 10 ppm (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 Comments Ambient Temperature, Non-Condensing VDD 3.0 V; VDDIO 1.8 V www.fairchildsemi.com 19 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 4 Sensor Calibration 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 0.3 * VDDIO V Digital Input Voltage V Digital Input Voltage V Digital Input Voltage V Digital Output Voltage V Digital Output Voltage VIL VIH 0.45 * VDDIO + 0.3 VHYS 0.45 * VDDIO + 0.3 VOL 0.4 VOH 5.4 VDDIO - 0.4 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 TSTD TA Parameter Min. Max. Unit Storage Temperature -40 +125 C OperatingTemperature -40 +85 C VDD 0.3 3.60 V VDDIO 0.3 2.05 V 10,000 g 2000 V ( ) Acceleration 7 ESD Electrostatic Discharge Capability Human Body Model, ANSI/ESDA/JEDEC ( ) JS-001-2012 8 Comments Any axis, unpowered, for 0.2 ms 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. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 www.fairchildsemi.com 20 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 5.3 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 ext LEN LEN DATA CHECKSUM Table 16. Message Structure Field Field Width Description Preamble 1 byte Indicator of start of packet 250 (0xFA) BID 1 byte Bus identifier or Address MID 1 byte Message identifier 255 (0xFF) For standard length message: LEN 1 byte - 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) The type of indication received IND ID 1 byte DATA (standard length) 0 - 254 bytes DATA (extended length) 255 - 2048 bytes Checksum 1 byte Data bytes (optional) Data bytes Checksum of message Details on the Xbus protocol message structure can be found in the Fairchild MT Low Level Communication Protocol documentation. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 www.fairchildsemi.com 21 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 6 FMT1000-Series Settings and Outputs 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 Timestamp Hex Value (10) 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 XDI_AccelerationHR 404y AccelerationHR 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 Status C02y 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. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 www.fairchildsemi.com 22 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 6.2 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 0x0 East-North-Up coordinate system ENU 0x4 North-East-Down coordinate system NED 0x8 North-West-Up NWU Coordinate System 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 Preamble BID MID LEN 0xFA 0xFF 0x36 .. DataID Data LEN Packet Data (Data LEN bytes) An example data message is depicted below (explanation of the message, divided into parts, in the table): FA FF 36 35 10 20 02 51 BC 10 60 04 00 21 49 AF 40 10 0C 39 B9 D8 00 B7 DD 80 00 3C C9 26 98 80 30 10 3F 80 00 01 B6 ED 60 01 36 94 A0 00 36 1E 60 00 E0 20 04 00 00 00 87 A0 Table 20. Example Data Message Part of Message (0x) Meaning FA FF 36 35 Xbus Header with total length of message (0x35) 10 20 02 51 BC DataID 0x1020 (Packet counter), length 0x02, data (0x51 BC) 10 60 04 00 21 49 AF DataID 0x1060 (Sample Time fine), length 0x04, data 40 10 0C 39 B9 D8 00 B7 DD 80 00 3C C9 26 98 DataID 0x4010 (velocity increment), length 0x0C, data 80 30 10 3F 80 00 01 B6 ED 60 01 36 94 A0 00 36 1E 60 00 DataID 0x8030 (orientation increment), length 0x10, data E0 20 04 00 00 00 87 DataID 0xE020 (StatusWord), length 0x04, data A0 Checksum (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 www.fairchildsemi.com 23 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field Table 19. Format Bits 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) 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) 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. 3 Ignored for FMT1000-series 8 10 Description Ignored for FMT1000-series Delay (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 2 Delay after receiving a sync pulse to taking action (100 s units, range [0..60000]) www.fairchildsemi.com 24 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 6.4 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 7.2 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). 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. 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. 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. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 Active Heading Stabilization (AHS) 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. www.fairchildsemi.com 25 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 7 Magnetic Interference 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. 2.60.10 8.80 1.27 13.20 1.470.10 13.20 1.60.10 TOP VIEW .76 8.80 E LAND PATTERN RECOMMENDATION FRONT VIEW 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. 12.10.10 1.680.05 12.10.10 D. DRAWING FILE NAME: MKT-FMT28Arev1 E. DON'T PLACE (EXPOSED) COPPER IN THE HATCHED AREA. 1.270.05 .760.05 BOTTOM VIEW Figure 17. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 FMT28_028 Package www.fairchildsemi.com 26 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 8 Package and Handling Figure 18. 8.2 Land Pattern Recommendation 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. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 www.fairchildsemi.com 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), dont place (exposed) copper. 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 260C. Recommended Preheat Area (ts) is 80-100 sec. The minimum height of the solder after reflow shall be at least 50 m. This is required for good mechanical decoupling between the FMT1000-series module and the Printed Circuit Board (PCB) it is mounted on. Assembled PCBs may NOT be cleaned with ultrasonic cleaning. Figure 20. (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 Reflow Profile www.fairchildsemi.com 28 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 8.3 FMT1000-series -- Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field 29 www.fairchildsemi.com (c) 2015 Fairchild Semiconductor Corporation FMT1000-series * Rev. 1.0 ON Semiconductor and are trademarks of Semiconductor Components Industries, LLC dba ON Semiconductor or its subsidiaries in the United States and/or other countries. ON Semiconductor owns the rights to a number of patents, trademarks, copyrights, trade secrets, and other intellectual property. A listing of ON Semiconductor's product/patent coverage may be accessed at www.onsemi.com/site/pdf/Patent-Marking.pdf. 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