© 2015 Fairchild Semiconductor Corporation

www.fairchildsemi.com

FMT1000-series

• Rev. 1.0

2

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

I

2C ..................................................................................................................................................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

XKF3

TM 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