DATASHEET SEARCH SITE | WWW.ALLDATASHEET.COM
Document overview
- Manufacturer or author: Provided By ALLDATASHEET.COM(FREE DATASHEET DOWNLOAD SITE)
- PDF pages: 29
Technical content
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 FMT1000 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 rat es 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 h igh 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
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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
1.1 Ordering Information
- Other packaging methods available on request. Contact Fairchild for more information.
1.2 Block Diagram
Figure 2. FMT1000-Series Module Block Diagram
1.3 Typical Application
Figure 3. Typical Application
1.4 Pin Configuration
Figure 4. Pin Assignment
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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 DNC DNC DNC
2 DNC DNC DNC DNC
3 DNC DNC DNC DNC
4 GND GND GND GND
5 VDD VDD VDD VDD
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. 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
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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
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).
1.7 Peripheral Interface Selection
(I2C) and the Serial Peripheral Interface (SPI) protocols. peripheral selection pins PSEL0 and PSEL1 at startup. connecting PSEL to a GND results in a value of 0. Table 1. Peripheral Interface Selection
1.7.1 Peripheral Interface Architecture
relation in which the slave cannot send data by it self. messages over the I2C and SPI buses. connection these messages are transported as-is. Figure 5. FMT Module Architecture
1.7.2 Xbus Protocol
straightforward interfacing with the FMT1000-series. Low-Level Communication Protocol Documentation. first before proceeding to the MTSSP explanation.
1.7.3 MTSSP Synchronous Serial Protocol
is called MTSSP (MT Synchronous Serial Protocol). module is always the Master. sends messages to the module in order to control it. Figure 6. Data Flows within MTSSP and will go high when either pipe contains an item. The following opcodes are defined. Table 2. Opcodes for SPI and I2C
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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
1.7.4 I2C
is defined as the user of the FMT1000-series module. when left unconnected the address selection defaults to ADD[0..2] = 111. Table 3. List of I2C Addresses Table 4. Implemented I2C Bus Protocol Features
- The FMT1000-series module relies on the I2C clock stretching feature to overcome fluctuations in processing
Reading from the module should start by first writing an opcode that tells the module what the Master needs to read. condition as is shown in Figure 7. opcode of the MTSSP protocol for this. Figure 7. Read Message Transfer using a Repeated Start (I2C)
Figure 8. Full Write Transfer and Full Read Transfer (I2C)
1.7.5 SPI
The FMT1000 -series supports the SPI transport layer. Figure 9. SPI Basic Transfer The second- to fourth byte transmitted are the fill words. value should therefore be ignored by the Master . series module are always 0xFA, 0xFF, 0xFF, 0xFF. The following timing constraints apply to the SPI transport layer. Figure 10. SPI Timing
Table 5. Timing Specifications
1.7.6 UART Half Duplex
Figure 11. Behavior of the nRE and DE Lines itself is still operating full duplex.
1.7.7 UART Full Duplex with RTS/CTS Flow
and CTS signals are used for hardware flow control. Figure 12. Data Transmit Behavior Under CTS Figure 13. FRTS Behavior Under Data Reception (GND) to make the FMT transmit.
1.8 Recommended External Components
- Rpu is only needed when the FMT1000-series is configured for I2C interface.
- RPSEL is only required when interface is not I2C.
Figure 14. External Components Figure 15. External Components
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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 it s 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 (XKF3 TM) outputs 3D orientation data with respect to a gravity referenced frame: drift-free roll, pitch and unreferenced yaw. In addition, it o utputs 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 orienta tion 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 St abilization (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 acce leration 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 d ead-reckoning calculations at 1 kHz allowing accurate capture of high frequency motions. This approach ensures a high bandwidth. Orientation and velocity i ncrements 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 t hat 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 para meter 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.
on magnetic field, but more distortions are expected with less trust being placed on magnetic measurements. 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. Table 6. Frames of Reference used for FMT1000-Series Output Figure 16. Default Sensor fixed Coordinate System for the FMT1000-Series Module that are by default outputted with an ENU reference coordinate system.
Table 7. Orientation Specifications magnetic field as reference. Active Heading Stabilization (AHS) feature. See section 7.2 for more information.
3.2 Sensors Specifications
Table 8. Gyroscope Specifications The bias is continuously estimated by XKF3. applicable for FMT1010 modules.
Table 9. Accelerometers Specifications Table 10. Magnetometer Specifications Table 11. Alignment Specifications
4 Sensor Calibration
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 Table 13. Auxiliary Interfaces
5.2 System Specifications
Table 14. System Specifications
5.3 Electrical Specifications
Table 15. Electrical Specifications
5.4 Absolute Maximum Ratings
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.
- This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part.
- This is an ESD-sensitive device. Proper handling is required to prevent damage to the part.
5.5 Compliance
modules are CE/FCC certified.
6 FMT1000-Series Settings and Outputs
The FMT1000-series module uses the proprietary Xbus protocol.
6.1 Message Structure
message needs to be used if the number of data bytes exceeds 254 bytes. Table 16. Message Structure Value equals number of bytes in DATA field.
6.2 Output Settings
the FMT1000-series, refer to the Fairchild MT Low Level Communication Protocol documentation (LLCP). SetOutputconfiguration holds the DataID and the output frequency. Set the output configuration of the device. contains a list with the same format, but with the values actually used by the device. Table 17. Output Configuration Parameters
0 Data Identifier (2 bytes)
2 Output frequency (2 bytes)
Table 18. DataID’s
- XDA: Communication protocol in C, to be used on external processors
- y: The hex value of the Format bits (see Table 19 below). The value is formed by doing a bitwise OR of the
Table 19. Format Bits
6.3 MTData2
Data is represented in the MTData2 message. Table 20. Example Data Message
6.4 Synchronization and Timing
data and rate of turn data is also outputted with the shortest possible latency. 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
0 Function 1 Value 8: Send Latest
1 Line 1 Value 2: SYNC_IN
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
8 Ignored for FMT1000-series
10 Delay 2 Delay after receiving a sync pulse to taking action
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com 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 p rocedure 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 Linu x), 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 Mag netic Field Mapper User Manual, available in the Fairchild MT Software Suite.
7.2 Active Heading Stabilization
(AHS) It is often not possib le 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 les s 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 excel lent 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, h eading 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 availa ble filter profiles in the FMT1030 AHRS.
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. FMT1000-series module in an IC-socket.
8.1 Package Drawing
of the FMT1000, review the package documentation, available on the Fairchild website: MKT-FMT28Arev1. Figure 17. FMT28_028 Package B. ALL DIMENSIONS ARE IN MILLIMETERS. MOLD FLASH AND TIE BAR PROTRUSIONS.
Figure 18. Land Pattern Recommendation
8.2 Mounting Considerations
the PCB. To minimize stress apply the following design rules for the PCB and housing. 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 vibrations caused by speaker, buzzer etc.
8.3 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
Sensitive Surface Mount Devices”. cleaned with ultrasonic cleaning. Figure 20. Reflow Profile
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com FMT1000-series • Rev. 1.0 29 FMT1000-series — Motion Tracking Module With Output of Orientation, Inertial Motion Data and Magnetic Field