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July 2016

FIS1100 • Rev. 1.2

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

FIS1100

6D Inertial Measurement Unit with Motion Co-

Processor and Sensor Fusion Library

Features

 World‟s First Complete Consumer Inertial

Measurement Unit (IMU) with Sensor Fusion

Library to Specify Orientation Accuracy: ±3º Pitch

and Roll, ±5º Yaw/Heading

 3-Axis Gyroscope and 3-Axis Accelerometer in a

Small 3.3 x 3.3 x 1 mm LGA Package

 Integrated AttitudeEngineTM Motion Co-processor

with Vector DSP Performs Sensor Fusion at 1 kHz

Sampling Rate, while Outputting Data to Host

Processor at a Lower Rate – Improving Accuracy

while Reducing Processor MIPS, Power, and

Interrupt Requirements

 High-Performance XKF3 6/9-Axis Sensor Fusion

with in-Run Calibration for Correction of Gyro Bias

Drift Over Temperature and Lifetime

 Low Latency, Wide Bandwidth, Low Noise OIS

Mode for Camera and Drone Gimbal Stabilization

 Low Noise 50 g/√Hz Accelerometer and

10 mdps/√Hz Gyroscope

 New Motion on Demand Technology for Polling

Based Synchronization

 Large 1536 Byte FIFO can be used to Buffer 9DOF

Sensor Data to Lower System Power Dissipation

 Large Dynamic Range from ±32°/s to ±2,560°/s

and ±2 g to ±8 g

 Low Power and Warm-Start Modes for Effective

Power Management

 Digitally Programmable Sampling Rate and Filters

 Host Serial Interface Supporting I2C or SPI

 I2C Master for Interfacing External Magnetometer

 Embedded Temperature Sensor

 Wide Extended Operating Temperature Range

(-40°C to 85°C)

Description

FIS1100 is the world‟s first complete consumer 6D

MEMS Inertial Measurement Unit (IMU) with sensor

fusion to specify system level orientation accuracy.

When using the FIS1100 in combination with the

supplied XKF3 9D sensor fusion, the system features an

accurate ±3° pitch and roll orientation, and a ±5°

yaw/heading typical specification.

The FIS1100 incorporates a 3-axis Gyroscope and a 3-

axis Accelerometer and can connect an external 3-axis

magnetometer through an I2C master thus forming a

complete 9DOF system.

The FIS1100 also incorporates an advanced vector

Digital Signal Processor (DSP) motion co-processor

called the AttitudeEngine™. The AttitudeEngine

efficiently encodes high frequency motion at high

internal sampling rates, preserving full accuracy across

any output data rate.

This enables the application to utilize low Output Data

Rates (ODR) or on-demand (host polling) and still

acquire accurate 3D motion data. The AttitudeEngine

allows reducing the data processing and interrupt load

on a host processor with no compromises in 3D motion

tracking accuracy. The result is very low total system

power in combination with high accuracy, which are

essential to many portable and battery powered

applications.

Applications

 Drone Flight Control and Gimbal Stabilization

 Optical Image Stabilization (OIS) and Electrical

Image Stabilization (EIS)

 Virtual Reality and Augmented Reality

 Robotic Orientation and Position Tracking

 Sport & Fitness Wearables

 Pedestrian Navigation and GNSS Augmentation

FIS1100 • Rev. 1.2 2

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table of Contents

1 General Information ...................................................................................................... 4

1.1 Ordering Information .........................................................................................................4

1.2 Marking Information ..........................................................................................................4

1.3 Internal Block Diagram .......................................................................................................4

1.4 Application Diagram ..........................................................................................................5

1.5 Package & Pin Information .................................................................................................6

1.6 Recommended External Components .................................................................................7

2 FIS1100 Architecture ...................................................................................................... 8

2.1 AttitudeEngine Mode Overview .........................................................................................8

2.2 Advantages of the Attitude Engine Approach ......................................................................8

2.3 9D Sensor Fusion and Auto-Calibration using XKF3 .............................................................9

2.4 Frames of Reference and Conventions for Using FIS1100 ................................................... 10

3 System, Electrical and Electro-Mechanical Characteristics ............................................. 11

3.1 Absolute Maximum Ratings ............................................................................................. 11

3.2 Recommended Operating Conditions ............................................................................... 11

3.3 System Level Specifications .............................................................................................. 12

3.4 Electro-Mechanical Specifications..................................................................................... 12

3.5 Accelerometer Programmable Characteristics ................................................................... 14

3.6 Gyroscope Programmable Characteristics ......................................................................... 15

3.7 Electrical Characteristics ................................................................................................... 16

3.7.1 Current Consumption ............................................................................................................ 16

3.8 Temperature Sensor ........................................................................................................ 17

4 Register Map Overview ................................................................................................ 18

5 Sensor Configuration Settings and Output Data ............................................................ 20

5.1 Typical Sensor Mode Configuration and Output Data ........................................................ 20

5.2 AttitudeEngine Mode Configuration and Output Data ....................................................... 21

5.3 General Purpose Register ................................................................................................. 21

5.4 Configuration Registers .................................................................................................... 22

5.5 Status and Count Registers ............................................................................................... 26

5.6 Sensor Data Output Registers ........................................................................................... 27

5.7 CTRL 9 Functionality (Executing Pre-defined Commands) .................................................. 30

5.7.1 CTRL 9 Description ................................................................................................................ 30

5.7.2 WCtrl9 (Write – CTRL9 Protocol) ........................................................................................... 30

5.7.3 Ctrl9R (CTRL9 Protocol - Read) .............................................................................................. 31

5.7.4 Ctrl9 (CTRL9 Protocol Acknowledge) .................................................................................... 31

5.7.5 CTRL9 Commands in Detail ................................................................................................... 32

5.8 Interrupts ........................................................................................................................ 34

5.8.1 Interrupt 1 (INT1) .................................................................................................................. 34

5.8.2 Interrupt 2 (INT2) .................................................................................................................. 34

6 Operating Modes ......................................................................................................... 35

6.1 General Mode Transitioning ............................................................................................. 38

6.2 Transition Times .............................................................................................................. 38

7 FIFO Description ........................................................................................................... 39

7.1 Using the FIFO ................................................................................................................. 39

7.2 FIFO Register Description ................................................................................................. 40

FIS1100 • Rev. 1.2 3

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

8 Wake On Motion (WoM) .............................................................................................. 42

8.1 Wake on Motion Introduction .......................................................................................... 42

8.2 Accelerometer Configuration ........................................................................................... 42

8.3 Wake on Motion Event .................................................................................................... 42

8.4 Configuration Procedure .................................................................................................. 42

8.5 Wake on Motion Control Registers ................................................................................... 43

8.6 Exiting Wake on Motion Mode ......................................................................................... 43

9 Performing Device Self Test .......................................................................................... 44

9.1 Accelerometer Self Test ................................................................................................... 44

9.2 Gyroscope Self Test .......................................................................................................... 44

10 Magnetometer Setup ................................................................................................... 45

10.1 Magnetometer Description .............................................................................................. 45

10.2 Magnetometer Calibration ............................................................................................... 45

11 Host Serial Interface ..................................................................................................... 46

11.1 Serial Peripheral Interface (SPI) ........................................................................................ 46

11.1.1 SPI Timing Characteristics ................................................................................................. 49

11.2 I2C Interface ..................................................................................................................... 50

12 Package and Handling .................................................................................................. 52

12.1 Package Drawing ............................................................................................................. 52

12.2 Reflow Specification......................................................................................................... 53

12.3 Storage Specifications ...................................................................................................... 53

13 Related Resources ........................................................................................................ 53

14 Document Information ................................................................................................. 54

14.1 Revision History ............................................................................................................... 54

FIS1100 • Rev. 1.2 4

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

1 General Information

1.1 Ordering Information

Table 1. Ordering Information

Part Number

Package

Packing Method

FIS1100

LGA16

Tape & Reel

1.2 Marking Information

Figure 1. Top Mark

1.3 Internal Block Diagram

Figure 2. Internal Block Diagram

ZXYKK

FIS1100

Pin 1 Identifier

Device Name

Lot Code

Week

Code

Assembly

Plant Code Year

Code

FIS1100 • Rev. 1.2 5

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

1.4 Application Diagram

Figure 3. Typical Application Diagram (Showing Magnetometer Connected through FIS1100

Master I2C and a SPI 4 Wire Interface Connected to the Host Processor)

NC

1RESV3

RESV1

RESV2

NC

5

4

8 2 15 3

VDDDVDDA GND GND

SCL2

SDA2

7

6SPC

CS

SDI

SDO

SPC

CS

MOSI

MISO

RST

INT1

INT2

14

10

13

9

16

12

11

GPO

GPI1

GPI2

1.8V

2.7 – 3.3V nominal

10kΩ

100nF 100nF

SCL

SDA

NC

CAD1CAD0VSSVDDVID

TST1

TST2

TST6

RSV

A4

A1

C2

B3

A3

D4

C4 B1 C1 D1 D2

AK8975C FIS1100 MCU

100nF100nF

DRDY NC

NC

SO B4

C3

CSB

A2

FIS1100 • Rev. 1.2 6

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

1.5 Package & Pin Information

Figure 4. Pins Face Down (Top View)

Do Not Solder Center Pin (NC)

Figure 5. Pins Face Up (Bottom View)

Do Not Solder Center Pin (NC)

Table 2. Pin Definitions

Pin #

Name

Alternate Name

Description

1

RESV3

Reserved. Connect to Board Ground (GND)

2

VDDa

Power Supply for Analog

3

GNDa

Ground for Analog

4

RESV2

Reserved. No Connection (NC)

5

RESV1

Reserved. No Connection (NC)

6

SDA2

Master I2C Serial Data

7

SCL2

Master I2CSerial Clock

8

VDDd

Power Supply for Digital and IO Pins

9

SA0(1)(3)

SDO

Host I2C Slave Address LSB (SA0);

Host 4-Wire SPI Serial Data Output (SDO)

10(1)

CS

Host SPI Chip Select (1 = I2C Mode). See SPI

Mode Configuration section

11

INT2

DRDY

Interrupt2. Data Ready/FIFO Interrupt

12

INT1

CLKout

Interrupt1. General Purpose Interrupt. Clock out in

OIS Mode

13

SDA

SDI(2)(3)

SDIO(2)(3)

Host I2C Serial Data (SDA);

Host 4-Wire SPI Serial Data Input (SDI);

Host 3-Wire SPI Serial Data Output (SDIO)

14

SCL

SPC(2)(3)

Host I2C Serial Clock (SCL);

Host SPI Serial Clock (SPC)

15

GNDd

Ground

16

RST ***

Reset Input. Assert for at least 5 s. Part ready for

communication 50 s after assertion. After RST,

the device will go through its boot process, please

refer to Table 7 and Table 8 for wakeup times.

Notes:

1. This pin has an internal 200 K pull up resistor.

2. In SPI mode (not in I2C Mode), there is an internal pull down 200 K resistor.

3. Refer to Section 1 for detailed configuration information.

NC

FIS1100

Bottom View

13 8 VDDdSDA/SDI/SDO

14 7 SCL2SCL/SPC

15 6 SDA2GNDd

16 5 RESV1RST

12 1 RESV3INT1/CLKout

11 2 VDDaINT2/DRDY

10 3 GNDaCS

9 4 RESV2SA0/SDO

NC

FIS1100

Top Through View

13 8 VDDdSDA/SDI/SDO

14 7 SCL2SCL/SPC

15 6 SDA2GNDd

16 5 RESV1RST

121RESV3 INT1/CLKout

112VDDa INT2/DRDY

103GNDa CS

94RESV2 SA0/SDO

FIS1100 • Rev. 1.2 7

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

1.6 Recommended External Components

Table 3. Recommended External Components

Component

Description

Parameter

Typical

Cp1

Capacitor

Capacitance

100 nF

Cp2

Capacitor

Capacitance

100 nF

Rpu(4)

Resistor

Resistance

10 K

Note:

4. Rpu is only needed when the Host Serial Interface is configured for I2C. They are not needed when the Host

Serial Interface is configured for SPI. See I2C Interface section. If Pull-up resistors are used on SCL and SDA,

then both SPI and I2C Modes are possible. If a Pull-up is used on SA0, an alternate slave address is used for

I2C. SPI Mode will be unaltered with the use of Pull-ups for I2C.

Figure 6. Typical Electrical Connections

4 1

16 13

12 9

8 5

NC

(RESV2)

GND

VDDa

GND

(RESV3)

SA0

CS

INT2

INT1

NC

(RESV1)

SDA2

SCL2

VDDd

RST

GND

SCL

SDA

GND

Cp2

VDDa

VDD I2C Bus

Rpu Rpu

SCL/SPC

SDA/SDI/SDO

Pull-ups should be added when I2C interface is used.

GND

Cp1

VDDd

FIS1100 • Rev. 1.2 8

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

2 FIS1100 Architecture

FIS1100 is a smart sensor that combines a high-

performance IMU with a powerful Single Instruction

Multiple Data (SIMD) based Vector DSP motion co-

processor referred to as the AttitudeEngine™ (AE).

Included sensor fusion software (XKF3) allows the

device to achieve orientation accuracies of ±3º for pitch

and roll and ±5º for yaw/heading.

The FIS1100 includes a microcontroller for data

scheduling, combined with Direct Memory Access

(DMA) in order to allow efficient data shuttling on the

chip. Multi-channel data is easily processed at rates up

to 1 kHz with minimal latency in normal operation (non-

OIS modes) and at 8 kHz in OIS modes.

An internal block diagram is shown in Figure 2. The

MEMS elements are amplified and converted by  A/D

converters which are synchronized to a common clock

so that all the motion measurements of acceleration,

angular rate and magnetic heading are sampled at the

same time minimizing any skew between channels. The

data is then sent to a signal processing chain that

accomplishes decimation, filtering and calibration.

Once the data has been processed, it can be sent to the

host processor depending on additional configuration

settings, such as, enabling the FIFO or using the

AttitudeEngine.

2.1 AttitudeEngine Mode Overview

Brief descriptions of the major functions of the

AttitudeEngine are discussed below, for more detail see

Application note AN-5083. Note that the AttitudeEngine

may be enabled or disabled and configured using the

CTRL6 register.

 Calibration: FIS1100 applies continuous on-chip

calibration of all the sensors (accelerometer,

gyroscope, and magnetometer) including scale,

offset, and temperature calibration. When used in

conjunction with a sensor fusion filter (such as the

Fairchild XKF3) running on the host processor,

estimated sensor errors can be updated in-use,

allowing sensor calibration to be performed in the

background without any host intervention. This

offloads computationally expensive per-sample re-

calibration from the host processor to the FIS1100.

 Sample Synchronization: FIS1100 automatically

provides highly synchronous output between the

various IMU accelerometer and gyroscope

channels through the use of fully parallel ΣΔ-

converters. The FIS1100 also provides time

synchronization of data between the IMU and the

external magnetometer.

 Motion Encoder: Performs 32-bit high-speed dead

reckoning calculations at 1 kHz data rates allowing

accurate capture of high frequency and coning

effects. Orientation and velocity increments are

calculated with full coning and sculling

compensation and the magnetic field vector from

the external magnetometer is rotated to the sensor

frame of reference. This allows the lossless

encoding (compression) of 6D motion to a low

output data rate, while maintaining the accuracy

provided by the 1 kHz input and data processing

rate. Motion data encoded by the AttitudeEngine is

available at a user programmable data rate (1 Hz to

64 Hz). The orientation and velocity increments

from the AttitudeEngine are suitable for any 3D

motion tracking application (orientation, velocity and

position) and may be further fused by the user with

information from other sources such as a GNSS

receiver or barometer in an optimal estimator.

 Motion on Demand (MoD): FIS1100 allows the

host to access encoded motion data

asynchronously (polling) and on demand. The

motion data in the AttitudeEngine (AE) mode

remains accurate even at very low output data

rates. This allows easy integration and

synchronization with other sensors for state-of-the-

art applications such as rolling shutter camera

stabilization, optical sensors software de-blurring,

GNSS integration and augmented or virtual reality.

2.2 Advantages of the Attitude

Engine Approach

The advantages of the AttitudeEngine (AE) approach

over the traditional sensor approach are many and are

briefly discussed below, for more detail see Application

note AN-5083.

 Low-Power Architecture: Dead reckoning

calculations are performed with the AE vector DSP

which is designed to perform essential calculations

while achieving high-accuracy and low power

simultaneously. The AE approach enables a typical

interrupt rate reduction to the host processor of 10x

and can be up to 100x for some applications. This

significantly enhances the operational life of battery

powered devices without any compromises in 3D

motion tracking accuracy.

 High Performance: The motion encoder and

sample synchronizer enable highly accurate strap

down integration that can be fully compensated for

coning and sculling artifacts.

FIS1100 • Rev. 1.2 9

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

2.3 9D Sensor Fusion and Auto-

Calibration using XKF3

XKF3 is a sensor fusion algorithm, based on Extended

Kalman Filter theory that fuses 3D inertial sensor data

(orientation and velocity increments) and 3D

magnetometer, also known as „9D‟, data to optimally

estimate 3D orientation with respect to an Earth fixed

frame.

A license to use XKF3 in a CMSIS compliant library

form for Cortex M0+, M3, M4, M4F, for commercial

purposes is provided with the FIS1100 Evaluation Kit

(FEBFIS1100MEMS_IMU6D3X).

A restricted-use license for use of XKF3 for commercial

purposes is also granted for certain applications when

XKF3 is used with the FIS1100.

XKF3 is developed by Xsens™, a pioneering company

in inertial based 3D motion tracking. The first generation

9D sensor fusion algorithms were developed by Xsens

more than 15 years ago and have been proven in

demanding 24/7 continuous use for a broad range of

applications; from unmanned underwater robotics to

accurate joint angle measurements for rehabilitation and

sports. The XKF3 algorithm is wholly owned by

Fairchild.

XKF3 only works with the FIS1100 and supported

magnetometers. Refer to the FEBFIS1100 Evaluation

Board document for further details.

For additional information, refer to AN-5084 application

note for more details on XKF3 and its benefits

XKF3 Features:

 Continuous Sensor Auto Calibration, No User

Interaction Required

 High Accuracy, Real-Time, Low-Latency Optimal

estimate of 3D Orientation, up to 1 kHz output data

rate

 Ultra low system power for 3D Orientation enabled

by AttitudeEngine, between 8 to 64 Hz output data

rate without any degradation in accuracy

 Best-in-Class Immunity to Magnetic Distortions

 Best-in-Class Immunity to Transient Accelerations

 Flexible use Scenarios, North Referenced,

Unreferenced

 Extensive Status Reporting for Smooth Integration in

Applications

 Optimized Library for Popular Microcontrollers

FIS1100 • Rev. 1.2 10

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Figure 7. Chip Orientation Coordinate System

2.4 Frames of Reference and

Conventions for Using FIS1100

FIS1100 uses a right-handed coordinate system as the

basis for the sensor frame of reference. Acceleration

(ax,ay,az) are given with respect to the X-Y-Z co-

ordinate system shown above. Increasing accelerations

along the positive X-Y-Z axis are considered positive.

Angular Rate (x, y, z) around the counter clockwise

direction are considered positive. Magnetic fields (mx,

my, mz) can be configured to be expressed in the sensor

X-Y-Z coordinates as well. Care must be taken to make

sure that FIS1100 and the magnetic sensor of choice

are mounted on the board so that the coordinate

systems of the two sensors are substantially orthogonal.

Figure 7 shows the various frames of reference and

conventions for using FIS1100.

The accelerometer, gyroscope, and the optional

external magnetometer are enabled or disabled using

the aEN, gEN and mEN bits in the CTRL7 register

respectively. AE Mode may be enabled or disabled

using the sEN bit in CTRL7 register. The outputs

available in Typical Sensor Mode and AttitudeEngine™

Modes are outlined below in Table 22 and Table 23. A

list and description of FIS1100 Operational Modes is

provided in Table 32. A FIFO buffer is also available to

store sample history. The FIFO may be configured

separately using FIFO_CTRL, FIFO_STATUS and

FIFO_DATA. The FIFO control is described in detail in

the FIFO Description section.

FIS1100 • Rev. 1.2 11

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

3 System, Electrical and Electro-Mechanical Characteristics

3.1 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. 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.

Table 4. Absolute Maximum Ratings

Symbol

Parameter

Min.

Max.

Unit

TSTG

Storage Temperature

-40

+125

°C

TPmax

Lead Soldering Temperature, 10 Seconds

+260

°C

VDDa

Supply Voltage

-0.3

3.6

V

VDDd

I/O Pins Supply Voltage

-0.3

2.05

V

Sg(5)

Acceleration g for 0.2 ms (Un-powered)

10,000

g

ESD(6)

Electrostatic Discharge

Protection Level

Human Body Model per JES001-2014

±2000

V

Charged Device Model per JESD22-C101

±500

Notes:

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

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

3.2 Recommended Operating Conditions

The Recommended Operating Conditions table defines the conditions for actual device operation. Recommended

operating conditions are specified to ensure optimal performance. Fairchild does not recommend exceeding them or

designing to Absolute Maximum Ratings.

Table 5. Recommended Operating Conditions

Symbol

Parameter

Min.

Typ.

Max.

Unit

VDDa

Supply Voltage

2.4

2.7

3.47

V

VDDd

I/O Pins Supply Voltage

1.62

1.80

1.98

V

VIL

Digital Low Level Input Voltage

0.3 *VDDd

V

VIH

Digital High Level Input Voltage

0.7 *VDDd

V

VOL

Digital Low Level Output Voltage

0.1 *VDDd

V

VOH

Digital High Level Output Voltage

0.9 *VDDd

V

FIS1100 • Rev. 1.2 12

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

3.3 System Level Specifications

System level specifications are provided to give

guidance on the system performance in a

recommended and typical configuration. The

recommended system configuration is the FIS1100 and

optionally a supported 3D magnetometer used with a

supported host processor, running the Fairchild XKF3

9D sensor fusion and having executed and stored the

result of the “Board Level Calibration” routine (see AN-

5085 application note). The system performance

specifications assume that good engineering practices

for the placement conditions of the FIS1100 and 3D

magnetometer are taken into account. For example,

take care not to place the FIS1100 where strong

vibrations may occur or even be amplified; take care not

to place the 3D magnetometer where magnetic fields

other than the Earth magnetic field may be measured.

Typical numbers are provided below unless otherwise

noted.

Table 6. System Level 3D Orientation Accuracy Specifications

Subsystem

Parameter

Typical

Unit

Comments

FIS1100+XKF3

quaternion

Roll

±3

deg

Requires use of XKF3 software library on

host processor.

Pitch

±3

deg

Requires use of XKF3 software library on

host processor.

Yaw (Heading)

Referenced to North

±5

deg

Requires use of XKF3 software library on

host processor, using magnetometer, in a

homogenous Earth magnetic field.

Yaw (Heading)

Unreferenced

5-25

deg/h

From Allan Variance bias instability.

Does not require a magnetometer.

(See specification above for use with

magnetometer.)

Fully immune to magnetic distortions.

FIS1100+XKF3

quaternion

Output Data Rate

8 - 1000

Hz

To benefit from the power saving using the

AttitudeEngine, use a max ODR of 64 Hz.

3.4 Electro-Mechanical Specifications

VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C unless otherwise noted.

Table 7. Accelerometer Electro-Mechanical Specifications

Subsystem

Parameter

Typical

Unit

Comments

Accelerometer

Noise Density

50

g/√Hz

High-Resolution Mode

Sensitivity Scale Factor

Scale Setting

Sensitivity

LSB/g

16-Bit Output

±2 g

16,384

±4 g

8,192

±8 g

4,096

Cross-Axis Sensitivity

±2

%

Temperature Coefficient of

Offset (TCO)

±1 (X and Y Axis)

mg/°C

Over-Temperature Range of

-40°C to 85°C at Board Level

±2.5 (Z-Axis)

Temperature Coefficient of

Sensitivity (TCS)

±0.01 (X and Y Axis)

%/°C

±0.02 (Z Axis)

Initial Offset Tolerance

±50

mg

Component Level

Initial Sensitivity Tolerance

±1 (X and Y Axis)

%

Board Level

±3 (Z Axis)

Non-Linearity

±1

%

Best Fit Line

System Turn On Time

(VDDd and VDDa within

1% of Final Value)

1.75

s

3.4.1.1.1.1 From Hardware Reset, No

Power, or Power Down to

Power-on Default state. = t0 in

Figure 8

FIS1100 • Rev. 1.2 13

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 7. Accelerometer Electro-Mechanical Specifications (Continued)

Subsystem

Parameter

Typical

Unit

Comments

Accel Turn On Time

3ms + 3/ODR

ms

3.4.1.1.1.2 Accel Turn on from Power-On

Default state or from Low Power

state. = t2 + t5 in Figure 8.

Table 8. Gyroscope Electro-Mechanical Specifications

Subsystem

Parameter

Typical

Unit

Comments

Gyroscope

Sensitivity

Scale

Setting

Sensitivity

LSB/dps

16-Bit Output

±32 dps

1024

±64 dps

512

±128 dps

256

±256 dps

128

±512 dps

64

±1024 dps

32

±2048 dps

16

±2560 dps

8

Minimum Natural

Frequency

> 19.3

kHz

Noise Density

10

mdps/√Hz

High-Resolution Mode

10

OIS Mode with gLPF=1

13.5

OIS LL Mode, 2 kHz BW

Non-Linearity

< 0.2

%

3.4.1.1.1.3 FSO=2560 dps

Cross-Axis Sensitivity

±2

%

System Turn On Time

(VDDd and VDDa within

1% of Final Value)

1.75

s

From Hardware Reset, No

Power, or Power Down to

Power-on Default state. = t0

in Figure 8

Gyro Turn On Time

60ms + 3/ODR

ms

3.4.1.1.1.4 Gyro Turn on from Power-On

Default = t1 + t5 in Figure 8.

Gyro Warm Start Turn On

Time

5ms + 3/ODR

ms

From Gyro Warm-Start to

Gyro Only or Accel + Gyro

modes. = t4 + t5 in Figure 8.

Temperature Coefficient of

Offset (TCO)

X & Y Axis

±0.1

dps/°C

Over-Temperature Range of

-40°C to 85°C

Z Axis

±0.02

Temperature Coefficient of

Sensitivity (TCS)

X & Y Axis

±0.07

%/°C

Over-Temperature Range of

-40°C to 85°C

Z Axis

±0.02

Initial Offset Tolerance

X & Y Axis

±10

dps

Board Level

Z Axis

±1

Initial Sensitivity Tolerance

X & Y Axis

±3

%

Board Level

Z Axis

±1

FIS1100 • Rev. 1.2 14

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 9. Magnetometer and AttitudeEngine Range and Scale

Subsystem

Parameter

Typical

Unit

Comments

Scale

Setting

Sensitivity

Typical Sensor

Mode

Magnetometer Sensitivity

Scale Factor

±16 gauss

2,048

LSB/gauss

16 Bit Output

AE Mode

Magnetometer Sensitivity

Scale Factor

±16 gauss

2,048

LSB/gauss

Orientation Increment

(quaternion) Sensitivity

Scale Factor

±1

16,384

LSB/unit

Velocity Increment

Sensitivity Scale Factor

±32

1,024

LSB/ms

3.5 Accelerometer Programmable Characteristics

VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C unless otherwise noted. Typical numbers are provided below unless otherwise

noted. All frequencies are ±5% and are synchronized to the gyro oscillator (“drive”) frequency.

Table 10. Accelerometer Noise Density

Mode

High-Resolution

Low-Power

Unit

ODR

1000

250

125

31.25

125

62.5

25

3

Hz

Typical Noise Density

50

125

180

285

820

g/√Hz

Table 11. Accelerometer Filter Characteristics(7)

Mode

High-Resolution

Low-Power

Unit

ODR

1000

250

125

31.25

125

62.5

25

3

Hz

Bandwidth

500

125

62.5

15.625

62.5

31.25

12.5

1.5

Bandwidth with Low-Pass Filter

Enabled (aLPF=1)

200

50

25

5

25

15

5

0.6

Corner Frequency(fc) with High-

Pass Filter Enabled (aHPF=1)

2.50

0.60

0.30

0.08

0.30

0.15

0.10

0.013

Note:

7. All frequencies are ±5% and are synchronized to the gyro oscillator (“drive”) frequency.

FIS1100 • Rev. 1.2 15

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

3.6 Gyroscope Programmable Characteristics

VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C, and represent typical numbers unless otherwise noted. All frequencies are ±5%

and are synchronized to the gyro oscillator (“drive”) frequency.

Table 12. Gyroscope Filter Characteristics

Mode

High-Resolution

Snooze

Warm-Start

OIS

OIS LL

Unit

ODR

gHPF=0

1000

250

125

31.25

Snooze

8100

Hz

Bandwidth

gLPF=0

500

125

62.5

15.625

N/A

4050

2000

gLPF=1

200

50

25

6

N/A

345

N/A(8)

Corner Frequency (fc)

with High-Pass Filter

Enabled (gHPF=1)

gHPF01=0

2.5

0.625

0.3125

0.08

N/A

0.1

N/A(8)

gHPF01=1

0.1

0.025

0.0125

0.0032

N/A

0.1

N/A(8)

Note:

8. For OIS LL mode, no filters can be enabled. gLPF=0 and gHPF=0 should be maintained.

Table 13. Optical Image Stabilization (OIS) Group Delay

Group Delay

At Frequency (Hz)

Filter Bandwidth (Hz)

Typical

Unit

10

4050

0.11

ms

2000 (OIS LL)

0.5

345

1.1

FIS1100 • Rev. 1.2 16

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

3.7 Electrical Characteristics

VDDd = 1.8 V; VDDa = 2.7 V; T = 25°C unless otherwise noted.

Table 14. Electrical Subsystem Characteristics

Symbol

Parameter

Min.

Typ.

Max.

Unit

fSPC

Host SPI Interface Speed

10

MHz

fSCL

Host I2C Interface Speed

Standard Mode

100

kHz

Fast Mode

400

fSCL2

Master I2C Interface Speed(9)

Standard Mode

25

kHz

Fast Mode

300

Note:

9. When only accelerometer is enabled, I2C master operates at 25 kHz. When gyroscope is enabled, I2C master

operates at 300 kHz.

3.7.1 Current Consumption

VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C unless otherwise noted. Typical numbers are provided below.

Table 15. Current Consumption for Accelerometer Only Typical Sensor Mode (Gyroscope

Disabled)

Mode

High-Resolution

Low-Power

Unit

ODR

1000

250

125

31.25

125

62.5

25

3

Hz

Typical Analog Current IDDa(10)

220

35

20

7

A

Typical Digital

Current IDDd (11)

Filters Disabled

(aLPF=0; aHPF=0)

100

70

65

60

20

15

10

8

Filters Enabled

(aLPF=1; aHPF=1)

108

71

66

61

21

16

10

8

Table 16. Current Consumption for Gyroscope Only Typical Sensor Mode (Accelerometer

Disabled)

Mode

High-Resolution

Snooze

Warm-Start

OIS, OIS

LL(8)

Unit

ODR

1000

250

125

31.25

Snooze

8100

Hz

Typical Analog Current IDDa(10)

2540

1240

2540

A

Typical Digital

Current IDDd (11)

Filters Disabled

(gLPF=0; gHPF=0;

gHPF01=0)

740

710

705

700

570

1100

Filters Enabled (gLPF=1;

gHPF=1; gHPF01=0)

740

710

705

700

570

1100

Notes:

10. IDDa is the current drawn from the analog supply VDDa.

11. IDDd is the current drawn from the digital supply VDDd.

Table 17. Current Consumption for 6DOF Typical Sensor Mode (Accelerometer and Gyroscope

Enabled)

Mode

High-Resolution

Unit

ODR

1000

250

125

31.25

Hz

Typical Analog Current IDDa

2750

A

Typical Digital

Current IDDd

Filters Disabled (aLPF=0; gLPF=0;

aHPF=0; gHPF=0; gHPF01=0)

815

780

Filters Enabled (aLPF=1; gLPF=1;

aHPF=1; gHPF=1; gHPF01=0)

830

790

780

FIS1100 • Rev. 1.2 17

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 18. Current Consumption for 6DOF Attitude Engine Mode (without Magnetometer)

Mode

Unit

ODR Setting

1

2

4

8

16

32

64

Hz

Typical Analog Current IDDa

2750

A

Typical Digital

Current IDDd

Filters Disabled

(aLPF=0; gLPF=0)

930

Filters Enabled

(aLPF=1; gLPF=1)

940

Table 19. Current Consumption for 9DOF Attitude Engine Mode (with Magnetometer)

Mode

Unit

ODR

1

2

4

8

16

32

Hz

Typical Analog Current IDDa

2750

A

Typical Digital

Current IDDd

With Magnetometer

at 32 Hz

990

3.8 Temperature Sensor

The FIS1100 is equipped with an internal 12-bit

embedded temperature sensor that is automatically

turned on by default whenever the accelerometer or

gyroscope is enabled. The temperature sensor is used

internally to correct the temperature dependency of

calibration parameters of the accelerometer and

gyroscope. The temperature compensation is optimal in

the range of -40°C to 85°C with a resolution of 0.0625°C

(1/16) or inversely, 16 LSB/ °C.

The FIS1100 outputs the internal chip temperature that

the HOST can read. This external output is truncated to

an 8-bit resolution so that the HOST sees 1°C per LSB

resolution. This is not representative of the accuracy

used internally to model and compensate for

temperature effects on calibration parameters. To read

the temperature, the HOST needs to access the TEMP

register (see Data Output Registers in Table 21. The

HOST should synchronize to the interrupt, INT2, signal

to get valid temperature readings.

Table 20. Temperature Sensor Specifications

Subsystem

Parameter

Typical

Unit

Digital Temperature Sensor

Range

-40 to +85

°C

Internal Resolution

12

Bits

Internal Sensitivity

16

LSB/°C

Output Register Width

8

Bits

Output Sensitivity

1

LSB/°C

Refresh Rate

10

Hz

FIS1100 • Rev. 1.2 18

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

4 Register Map Overview

The FIS1100 has various registers that enable

programming and control of the inertial measurement

unit and associated on-chip signal processing. The

register map may be classified into the following

register categories:

 General Purpose Registers

 Setup and Control Registers: Controls various

aspects of the IMU.

 Host Controlled Calibration Registers: Controls

and Configures various aspects of the IMU via

Host Command interface called CTRL9

 Count Register for time stamping the sensor

samples

 FIFO Registers: To setup the FIFO and detect

data availability and over-run.

 Data Output Registers: Contains all data for 9D

sensors.

FIS1100 registers are divided into two banks of 64

registers with the second register bank reserved for

future use. Both register banks may be accessed from

I2C or SPI. A detailed description of each register

including the register settings necessary to configure

the FIS1100 operational modes is provided in Section

5.

Table 21. Register Overview

Name

Type

Register Address

Default

Comment

Dec

Hex

Binary

General Purpose Registers

WHO_AM_I

r

0

00

00000000

11111100

Device Identifier

Setup and Control Registers

CTRL1

rw

2

02

00000010

00000000

SPI Interface and Sensor Enable (for clock and power

management)

CTRL2

rw

3

03

00000011

00000000

Accelerometer: Output Data Rate, Full Scale, Self Test

CTRL3

rw

4

04

00000100

00000000

Gyroscope: Output Data Rate, Full Scale, Self Test

CTRL4

rw

5

05

00000101

00000000

Magnetometer Settings: Output Data Rate, and Device

Selection

CTRL5

rw

6

06

00000110

00000000

Data Processing Settings

CTRL6

rw

7

07

00000111

00000000

AttitudeEngine™ Settings: Output Data Rate, Motion on

Demand

CTRL7

rw

8

08

00001000

00000000

Enable Sensors, syncSmpl

CTRL8

rw

9

09

00001001

00000000

Reserved: Not Used

CTRL9

rw

10

0A

00001010

00000000

Host commands

Host Controlled Calibration Registers (See CTRL9, Usage is Optional)

CAL1_L

rw

11

0B

00001011

00000000

Calibration Register

CAL1_L – lower 8 bits. CAL1_H – upper 8 bits.

CAL1_H

rw

12

0C

00001100

00000000

CAL2_L

rw

13

0D

00001101

00000000

Calibration Register

CAL2_L – lower 8 bits. CAL2_H – upper 8 bits.

CAL2_H

rw

14

0E

00001110

00000000

CAL3_L

rw

15

0F

00001111

00000000

Calibration Register

CAL3_L – lower 8 bits. CAL3_H – upper 8 bits.

CAL3_H

rw

16

10

00010000

00000000

CAL4_L

rw

17

11

00010001

00000000

Calibration Register

CAL4_L – lower 8 bits. CAL4_H – upper 8 bits.

CAL4_H

rw

18

12

00010010

00000000

FIFO Registers

FIFO_CTRL

rw

19

13

00010011

00000000

FIFO Setup

FIFO_DATA

r

20

14

00010100

00000000

FIFO Data

FIFO_STATUS

r

21

15

00010101

00000000

FIFO Status

FIS1100 • Rev. 1.2 19

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 21. Register Overview (Continued)

Name

Type

Register Address

Default

Comment

Dec

Hex

Binary

Status Registers

STATUS0

r

22

16

00010110

00000000

Output Data Over Run and Data Availability

STATUS1

r

23

17

00010111

00000000

Miscellaneous Status: Wake on Motion, FIFO ready,

CmdDone (CTRL9 protocol bit)

Count Register

CNT_OUT

r

24

18

00011000

00000000

Sample Time Stamp (Count Output)

Data Output Registers (16 bits 2’compliment except self test sensor data, AE-REG1 and AE_REG2)

AX_L

r

25

19

00011001

00000000

X-axis Acceleration

AX_L – lower 8 bits. AX_H – upper 8 bits.

AX_H

r

26

1A

00011010

00000000

AY_L

r

27

1B

00011011

00000000

Y-axis Acceleration

AY_L – lower 8 bits. AY_H – upper 8 bits.

AY_H

r

28

1C

00011100

00000000

AZ_L

r

29

1D

00011101

00000000

Z-axis Acceleration

AZ_L – lower 8 bits. AZ_H – upper 8 bits.

AZ_H

r

30

1E

00011110

00000000

GX_L

r

31

1F

00011111

00000000

X-axis Angular Rate

GX_L – lower 8 bits. GX_H – upper 8 bits.

GX_H

r

32

20

00100000

00000000

GY_L

r

33

21

00100001

00000000

Y-axis Angular Rate

GY_L – lower 8 bits. GY_H – upper 8 bits.

GY_H

r

34

22

00100010

00000000

GZ_L

r

35

23

00100011

00000000

Z-axis Angular Rate

GZ_L – lower 8 bits. GZ_H – upper 8 bits.

GZ_H

r

36

24

00100100

00000000

MX_L

r

37

25

00100101

00000000

X-axis Magnetic Field

MX_L – lower 8 bits. MX_H – upper 8 bits.

MX_H

r

38

26

00100110

00000000

MY_L

r

39

27

00100111

00000000

Y-axis Magnetic Field .

MY_L – lower 8 bits. MY_H – upper 8 bits.

MY_H

r

40

28

00101000

00000000

MZ_L

r

41

29

00101001

00000000

Z-axis Magnetic Field.

MZ_L – lower 8 bits. MZ_H – upper 8 bits.

MZ_H

r

42

2A

00101010

00000000

dQW_L

r

45

2D

00101101

00000000

Quaternion Increment dQW.

dQW_L – lower 8 bits. dQW_H – upper 8 bits.

dQW_H

r

46

2E

00101110

00000000

dQX_L

r

47

2F

00101111

00000000

Quaternion Increment dQX.

dQX_L – lower 8 bits. dQX_H – upper 8 bits.

dQX_H

r

48

30

00110000

00000000

dQY_L

r

49

31

00110001

00000000

Quaternion Increment dQY.

dQY_L – lower 8 bits. dQY_H – upper 8 bits.

dQY_H

r

50

32

00110010

00000000

dQZ_L

r

51

33

00110011

00000000

Quaternion Increment dQZ

dQZ_L – lower 8 bits. dQZ_H – upper 8 bits.

dQZ_H

r

52

34

00110100

00000000

dVX_L

r

53

35

00110101

00000000

Velocity Increment along X-axis, or X-axis Angular Rate for

OIS LL mode, or Self test sensor data

dVX_L – lower 8 bits. dVX_H – upper 8 bits.

dVX_H

r

54

36

00110110

00000000

dVY_L

r

55

37

00110111

00000000

Velocity Increment along Y-axis, or Y-axis Angular Rate for

OIS LL mode, or Self test sensor data

dVY_L – lower 8 bits. dVY_H – upper 8 bits.

dVY_H

r

56

38

00111000

00000000

dVZ_L

r

57

39

00111001

00000000

Velocity Increment along Z-axis, or Z-axis Angular Rate for

OIS LL mode, or Self test sensor data

dVZ_L – lower 8 bits. dVZ_H – upper 8 bits.

dVZ_H

r

58

3A

00111010

00000000

FIS1100 • Rev. 1.2 20

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 21. Register Overview (Continued)

Name

Type

Register Address

Default

Comment

Dec

Hex

Binary

Data Output Registers (Continued)

TEMP

r

59

3B

00111011

00000000

Temperature Output Data

AE_REG1

r

60

3C

00111100

00000000

AttitudeEngine Register 1

AE_REG2

r

61

3D

00111101

00000000

AttitudeEngine Register 2

5 Sensor Configuration Settings and Output Data

5.1 Typical Sensor Mode Configuration and Output Data

In Typical Sensor Mode, FIS1100 outputs raw sensor values. The sensors are configured and read using the

registers described below. The accelerometer, gyroscope and magnetometer can be independently configured. Table

22 summarizes these pertinent registers.

Table 22. Typical Sensor Mode Configuration and Output Data

Typical Sensor Configuration and Output Data

Description

Registers

Unit

Comments

Sensor Enable, SPI 3 or 4

Wire

CTRL1

Control power states, configure SPI communications

Enable Sensor, Configure

Data Reads

CTRL7

Enable sensor mode (sEN = 0).

Configure data reads from Sensor Data Output Registers with

syncSmpl.

Individually enable/disable the Accelerometer, Gyroscope and

Magnetometer using aEN, gEN, and mENbits, respectively.

Configure Accelerometer,

Enable Self Test

CTRL2

Configure Full Scale and Output Data Rate; Enable Self Test

Configure Gyroscope,

Enable Self Test

CTRL3

Configure Full Scale and Output Data Rate; Enable Self Test

Configure Magnetometer

CTRL4

Configure Output Data Rate and choose device

Sensor Filters

CTRL5

Configure and Enable/Disable High Pass and Low Pass Filters

Status

STATUS0,

STATUS1

Data Availability, Data Overrun, FIFO ready to be read, CTRL9

Protocol Bit

Time Stamp

CNT_OUT

Sample Time Stamp (circular register 0-FF)

Acceleration

A[X,Y,Z]_[H,L]

g

In Sensor Frame of Reference, Right-handed Coordinate System

Angular Rate

G[X,Y,Z]_[H,L]

dps

In Sensor Frame of Reference, Right-handed Coordinate System

Magnetic Field

M[X,Y,Z]_[H,L]

gauss

In Sensor Frame of Reference, Right-handed Coordinate System

Temperature

TEMP

°C

Temperature of the sensor

FIFO Based Output

FIFO_DATA

See FIFO Description section for more details on using the FIFO

to store and access multiple samples

FIS1100 • Rev. 1.2 21

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.2 AttitudeEngine Mode Configuration and Output Data

In AE Mode, FIS1100 outputs orientation (quaternion) and velocity increments.

Orientation increments are expressed in unit quaternion format. dQ = [QW, QX, QY, QZ]T where QW is the scalar

component of the quaternion increment and QX, QY and QZ are the (imaginary) vector components of the unit

quaternion. Velocity increments are expressed in vector format dV = [VX, VY, VZ].

Table 23 summarizes the operation of the AttitudeEngine mode.

Table 23. AttitudeEngine Mode Configuration and Output Registers

AttitudeEngine Mode

Configuration

Registers

Unit

Comments

Sensor Enable, SPI 3 or 4

Wire

CTRL1

Control power states, SPI communications

Enable AttitudeEngine

CTRL7

Enable the AttitudeEngine (CTRL7, sEN =1, aEN=1, gEN=1,

optionally mEN=1 if external magnetometer is available)

Configure

CTRL6

AttitudeEngine Output Data Rate and Motion on Demand

Configure Accelerometer,

Enable Self Test

CTRL2

Configure Full Scale; Enable Self Test

Configure Gyroscope,

Enable Self Test

CTRL3

Configure Full Scale; Enable Self Test

Configure Magnetometer

CTRL4

Configure Output Data Rate and choose device

Sensor Filters

CTRL5

Configure and Enable/Disable High Pass and Low Pass

Filters

Quaternion Increment

dQ[W,X,Y,Z]_[H,L]

Unit Quaternion format in sensor frame

Velocity Increment

dV[X,Y,Z]_[H,L]

ms-1

Rotation compensated velocity increment (based on specific

force), rotated to sensor frame of reference

Magnetic Field

M[X,Y,Z]_[H,L]

gauss

Rotation compensated magnetic field (rotated to sensor frame

of reference)

Status

STATUS0,

STATUS1

Data Availability, Data Overrun, Wake on Motion detected

Bias Update, Clipping,

Overflow

AE_REG1,

AEREG_2

Magnetometer and Gyroscope bias update

acknowledgement, Sensor clipping acknowledgement,

Velocity increment overflow

Temperature

TEMP

°C

Temperature of the sensor

5.3 General Purpose Register

Table 24. General Purpose Register Description

Register Name

WHO_AM_I

Register Address: 0 (0x00)

Bits

Name

Default

Description

7:0

WHO_AM_I

0xFC

Device identifier FC - to identify the device is a Fairchild sensor

FIS1100 • Rev. 1.2 22

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.4 Configuration Registers

This section describes the various operating modes and register configurations of the FIS1100.

Table 25. Configuration Registers Description

Register Name

CTRL1

SPI Interface and Sensor Enable. Register Address: 2 (0x02)

Bits

Name

Default

Description

7

SIM

1‟b0

0: Enables 4-wire SPI interface

1: Enables 3-wire SPI interface

6:1

Reserved

6‟b0

Reserved

0

sensorDisable

1‟b0

0: Enables internal 1 MHz oscillator

1: Disables internal 1 MHz oscillator

For more detail, see Table 32 and see Figure 8

CTRL2

Accelerometer Settings: Address: 3 (0x03)

Bits

Name

Default

Description

7:6

Reserved

2‟b0

Reserved

5

aST

1‟b0

Enable Accelerometer Self Test. For more detail, see Section 9.1

4:3

aFS<1:0>

2‟b0

Set Accelerometer Full-scale:

00 - Accelerometer Full-scale = ±2 g

01 - Accelerometer Full-scale = ±4 g

10 - Accelerometer Full-scale = ±8 g

11 - Accelerometer Full-scale = ±8 g

2:0

aODR<2:0>(12)

3‟b0

Set Accelerometer Output Data Rate (ODR):

Setting

ODR Rate

(Hz)

Mode

LPF Bandwidth

(Hz), aLPF=0

LPF Bandwidth

(Hz), aLPF=1

000

1000

High Resolution

500

200

001

250

High Resolution

125

50

010

125

High Resolution

62.5

25

011

31.25

High Resolution

15.625

5

100

125

Low Power

62.5

25

101

62.5

Low Power

31.25

15

110

25

Low Power

12

5

111

3

Low Power

2

0.6

FIS1100 • Rev. 1.2 23

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 25 Configuration Register Description (Continued)

Register Name

CTRL3

Gyroscope Settings: Address 4 (0x04)

Bits

Name

Default

Description

7

Reserved

1‟b0

6

gST

1‟b0

Enable Gyro Self-Test. For more detail, see Section 9.2, Gyroscope

Self Test

5:3

gFS<2:0>

3‟b0

Set Gyroscope Full-scale:

000 - ±32 dps

001 - ±64 dps

010 - ±128 dps

011 - ±256 dps

100 - ±512 dps

101 - ±1024 dps

110 - ±2048 dps

111 - ±2560 dps

2:0

gODR<2:0> (12)

3‟b0

Set Gyroscope Output Data Rate (ODR):

Setting

ODR

Rate

(Hz)

Mode

LPF

Bandwidth

(Hz). gLPF=0

LPF Bandwidth

(Hz), gLPF=1

000

1000

High-Resolution

500

200

001

250

High-Resolution

125

50

010

125

High-Resolution

62.5

25

011

31.25

High-Resolution

15.625

6

10X

0

Gryo Warm-Start

(“Snooze”)

NA

110

8100

OIS

4050

345

111

8100

OIS LL(13)

2000

N/A(14)

CTRL4

Magnetometer Settings: Address: 5 (0x05)

Bits

Name

Default

Description

7:6

Reserved

2‟b0

5:4

mDEV<1:0>

2‟b0

Designate External Magnetometer Device:

Setting

Vendor

Part Number

00

AKM

AK8975

3:2

Reserved

2‟b0

1:0

mODR<1:0>

2‟b0

Set Recommended Magnetometer Output Data Rate (ODR):

Setting

ODR Rate (Hz)

Description

10

31.25

AKM8975

Note:

12. When both the accelerometer and the gyroscope are enabled, it is typical to set the ODR rates for each sensor

to be identical, such as when output rates are chosen in the range of 1kHz to 32Hz. In case the host requires

different ODRs (for example, as with OIS mode) then, the gyroscope output rate should be chosen to be greater

than or equal to the accelerometer output rate. NOTE: The accelerometer low power mode is only available

when the gyroscope is disabled

13. When gODR<2:0>=111 (OIS LL mode) is selected, the gyro data will be written to dVX_L, dVX_H, dVY_L,

dVY_H, dVZ_L and dVZ_H registers. See register #53 through #58 for additional details.

FIS1100 • Rev. 1.2 24

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 25 Configuration Register Description (Continued)

Register Name

CTRL5

Sensor Data Processing Settings. Register Address: 6 (0x06)

Bits

Name

Default

Description

7:5

Reserved

3‟b0

4

gHPF01

1‟b0

Set HPF corner frequency. See Table associated with gHPF bit

below.

3

gLPF

1‟b0

0: Disable Gyroscope Low-Pass Filter.

1: Enable Gyroscope Low-Pass Filter.

2

gHPF

1‟b0

0: Disable Gyroscope High-Pass Filter.

1: Enable Gyroscope High-Pass Filter (see Table below).

High-Pass Filter corner frequency (fc) with gHPF = 1

ODR Rate (Hz)

gHPF01=1 (Hz)

gHPF01=0 (Hz)

1000

0.1

2.5

250

0.0250

0.6250

125

0.0125

0.3125

31.25

0.0032

0.0800

8100 (gODR=110)

0.1000

8100 (gODR=111)

N/A(14)

1

aLPF

1‟b0

0: Disable Accelerometer Low-Pass Filter.

1: Enable Accelerometer Low-Pass Filter.

0

aHPF

1‟b0

0: Disable Accelerometer High-Pass Filter

1: Enable Accelerometer High-Pass Filter.

CTRL6

Attitude Engine ODR and Motion on Demand: Address: 7 (0x07)

Bits

Name

Default

Description

7

sMoD

1‟b0

0: Disables Motion on Demand.

1: Enables Motion on Demand (Requires sEN=1).

6:3

Reserved

4‟b0

2:0

sODR<2:0>

3‟b0

Attitude Engine Output Data Rate (ODR)

Setting

ODR Rate (Hz)

000

1

001

2

010

4

011

8

100

16

101

32

110

64(15)

111

NA

Notes:

14. For OIS LL mode, no filters can be enabled. gLPF=0 and gHPF=0 should be maintained.

15. This ODR should not be used if magnetometer is enabled

FIS1100 • Rev. 1.2 25

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 25 Configuration Register Description (Continued)

Register Name

CTRL7

Enable Sensors and Configure Data Reads. Register Address: 8 (0x08)

Bits

Name

Default

Description

7

syncSmpl

1‟b0

This bit determines how data are read out of Sensor Data

Output Registers of the FIS1100.

0: INT2 is placed into edge trigger mode: the Sensor Data

Output Registers are updated at the Output Data Rate (ODR),

and INT2 is pulsed at the ODR rate

1: INT2 is placed into level mode: the Sensor Data Output

Registers are updated at the ODR until the STATUS0 register is

read by the host. Reading STATUS0 causes the Sensor Data

Output Registers register to stop updating and causes INT2 to

be brought low. The Sensor Data Output Registers are not

updated until the last byte has been read from them. Once this

read is complete, the FIS1100 resumes updating the Sensor

Data Output Registers and INT2 will be brought high when new

data is available.

6:4

Reserved

3‟b0

3

sEN

1‟b0

0: Disable AttitudeEngine orientation and velocity increment

computation

1: Enable AttitudeEngine orientation and velocity increment

computation

2

mEN

1‟b0

0: Magnetometer placed in Standby or Power-down Mode.

1: Enable Magnetometer

1

gEN

1‟b0

0: Gyroscope placed in Standby or Power-down Mode.

1: Enable Gyroscope.

0

aEN

1‟b0

0: Accelerometer placed in Standby or Power-down Mode.

1: Enable Accelerometer.

CTRL8

Reserved – Special Settings. Register Address: 9 (0x09)

Bits

Name

Default

Description

7:0

Reserved

0x00

Not Used

Register Name

CTRL9

Host Commands. Register Address: 10 (0x0A)

(See Section 5.7, CTRL 9 Functionality (Executing Pre-defined Commands))

FIS1100 • Rev. 1.2 26

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.5 Status and Count Registers

Table 27. Status and Time Stamp Registers

Register Name

STATUS0

Output Data Status Register Address: 22 (0x16)

Bits

Name

Default

Description

7

aeOVRN

1‟b0

0: No overrun

1: AE data overrun. Previous data overwritten before it was read.

6

mOVRN

1‟b0

0: No overrun

1: Magnetometer data overrun. Previous data overwritten before it

was read.

5

gOVRN

1‟b0

0: No overrun

1: Gyroscope data overrun. Previous data overwritten before it was

read.

4

aOVRN

1‟b0

0: No overrun

1: Accelerometer data overrun. Previous data overwritten before it

was read.

3

aeDA

1‟b0

AE new data available

0: No updates since last read.

1: New data available.

2

mDA

1‟b0

Valid Magnetometer data available

0: Magnetometer data is NOT Valid

1: Valid Magnetometer data is available at every ODR. If Mag ODR

is lower than accelerometer and gyroscope ODR previous valid

Magnetometer data will be repeated until new data is available

1

gDA

1‟b0

Gyroscope new data available

0: No updates since last read.

1: New data available.

0

aDA

1‟b0

Accelerometer new data available

0: No updates since last read.

1: New data available.

STATUS1

Miscellaneous Status. Register Address 23 (0x17)

Bits

Name

Default

Description

7:3

Reserved

5‟b0

2

WoM

1‟b0

Wake on Motion detected (see Section 8 for more details)

1

FIFO_rddy

1‟b0

FIFO ready to be read.

0

CmdDone

1‟b0

Bit read by Host Processor as part of CTRL9 register protocol. See

Section 5.7 for more information.

CNT_OUT

Sample Time Stamp – Output Count. Register Address: 24 (0x18)

Bits

Name

Default

Description

7:0

CNT_OUT<7:0>

0x00

Sample time stamp. Count incremented by one for each sample

(x, y, z data set) from sensor with highest ODR (circular register

0x00-0xFF).

FIS1100 • Rev. 1.2 27

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.6 Sensor Data Output Registers

Table 28. Sensor Data Output Registers Description

Register Name

A[X,Y,Z]_[H,L]

Acceleration Output. Register Address: 25 – 30, (0x19 – 0x1E)

Bits

Name

Default

Description

7:0

AX_L<7:0>

0x00

X-axis acceleration in two‟s complement.

AX_L – lower 8 bits. AX_H – upper 8 bits.

7:0

AX_H<15:8>

0x00

7:0

AY_L<7:0>

0x00

Y-axis acceleration in two‟s complement.

AY_L – lower 8 bits. AY_H – upper 8 bits.

7:0

AY_H<15:8>

0x00

7:0

AZ_L<7:0>

0x00

Z-axis acceleration in two‟s complement.

AZ_L – lower 8 bits. AZ_H – upper 8 bits.

7:0

AZ_H<15:8>

0x00

Register Name

G[X,Y.Z]_[H,L]

Angular Rate Output. Register Address: 31 – 36 (0x1F – 0x24)

Bits

Name

Default

Description

7:0

GX_L<7:0>

0x00

X-axis angular rate in two‟s complement.

GX_L – lower 8 bits. GX_H – upper 8 bits.

7:0

GX_H<15:8>

0x00

7:0

GY_L<7:0>

0x00

Y-axis angular rate in two‟s complement.

GY_L – lower 8 bits. GY_H – upper 8 bits.

7:0

GY_H<15:8>

0x00

7:0

GZ_L<7:0>

0x00

Z-axis angular rate in two‟s complement.

GZ_L – lower 8 bits. GZ_H – upper 8 bits.

7:0

GZ_H<15:8>

0x00

Register Name

M[X,Y,Z]_[H,L]

Magnetometer Output. Register Address: 37 - 42. (0x25 – 0x2A)

Bits

Name

Default

Description

7:0

MX_L<7:0>

0x00

X-axis magnetic field data in two‟s complement.

MX_L – lower 8 bits. MX_H – upper 8 bits.

7:0

MX_H<15:8>

0x00

7:0

MY_L<7:0>

0x00

Y-axis magnetic field data in two‟s complement.

MY_L – lower 8 bits. MY_H – upper 8 bits.

7:0

MY_H<15:8>

0x00

7:0

MZ_L<7:0>

0x00

Z-axis magnetic field data in two‟s complement.

MZ_L – lower 8 bits. MZ_H – upper 8 bits.

7:0

MZ_H<15:8>

0x00

Continued on the following page…

FIS1100 • Rev. 1.2 28

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 28 Sensor Data Output Registers Description (Continued)

Register Name

dQ[1,2,3,4]_[H,L]

Quaternion Output. Register Addresses: 45 – 52 (0x2D – 0x34)

Bits

Name

Default

Description

7:0

dQW_L<7:0>

0x00

Quaternion Increment dQW in two‟s complement.

dQW_L – lower 8 bits. dQW_H – upper 8 bits.

7:0

dQW_H<15:8>

0x00

7:0

dQX_L<7:0>

0x00

Quaternion Increment dQX in two‟s complement.

dQX_L – lower 8 bits. dQX_H – upper 8 bits.

7:0

dQX_H<15:8>

0x00

7:0

dQY_L<7:0>

0x00

Quaternion Increment dQY in two‟s complement.

dQY_L – lower 8 bits. dQY_H – upper 8 bits.

7:0

dQY_H<15:8>

0x00

7:0

dQZ_L<7:0>

0x00

Quaternion Increment dQZ in two‟s complement.

dQZ_L – lower 8 bits. dQZ_H – upper 8 bits.

7:0

dQZ_H<15:8>

0x00

dV[X,Y,Z]_[H,L]

Delta Velocity Output. Register Address: 53 – 58 (0x35– 0x3A)

Bits

Name

Bits

Name

7:0

dVX_L<7:0>

0x00

X-axis Velocity Increment in two‟s complement.

dVX_L – lower 8 bits. dVX_H – upper 8 bits.

When gODR=111, OIS LL Gyro X-axis data in two‟s complement

Also used for accelerometer or gyro self test data

7:0

dVX_H<15:8>

0x00

7:0

dVY_L<7:0>

0x00

Y-axis Velocity Increment in two‟s complement.

dVY_L – lower 8 bits. dVY_H – upper 8 bits.

When gODR=111, OIS LL Gyro Y-axis data in two‟s complement

Also used for accelerometer or gyro self test data

7:0

dVY_H<15:8>

0x00

7:0

dVZ_L<7:0>

0x00

Z-axis Velocity Increment in two‟s complement.

dVZ_L – lower 8 bits. dVZ_H – upper 8 bits.

When gODR=111, OIS LL Gyro Z-axis data in two‟s complement

Also used for accelerometer or gyro self test data

7:0

dVZ_H<15:8>

0x00

TEMP

Temperature Output. Register Address: 59. (0x3B)

Bits

Name

Default

Description

7:0

TEMP<7:0>

0x00

Temperature output (°C) in two‟s complement.

AE_REG1

AttitudeEngine Register 1, Address: 60 (0x3C)

Bits

Name

Default

Description

7

MagBiasAck

1‟b0

Acknowledgement that Mag Bias was updated during this time

period.

6

GyroBiasAck

1‟b0

Acknowledgement that Gyro Bias was updated during this time

period.

5

wz_clip

1‟b0

Gyroscope Z-axis data was clipped during the dQ calculation.

4

wy_clip

1‟b0

Gyroscope Y-axis data was clipped during the dQ calculation.

3

wx_clip

1‟b0

Gyroscope X-axis data was clipped during the dQ calculation.

2

az_clip

1‟b0

Accelerometer Z-axis data was clipped during the dQ calculation.

1

ay_clip

1‟b0

Accelerometer Y-axis data was clipped during the dQ calculation.

0

ax_clip

1‟b0

Accelerometer X-axis data was clipped during the dQ calculation.

FIS1100 • Rev. 1.2 29

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 28 Sensor Data Output Registers Description (Continued)

Register Name

AE_REG2

AttitudeEngine Register 2, Address: 61 (0x3D)

Bits

Name

Default

Description

7

Reserved

1‟b0

6

Reserved

1‟b0

5

mz_clip

1‟b0

Mag Z-axis data was clipped.

4

my_clip

1‟b0

Mag Y-axis data was clipped.

3

mx_clip

1‟b0

Mag X-axis data was clipped.

2

dvz_of

1‟b0

Velocity Increment overflow along dvz.

1

dvy_of

1‟b0

Velocity Increment overflow along dvy.

0

dvx_of

1‟b0

Velocity Increment overflow along dvx.

Table 29. AttitudeEngine Modes and Output Table

Mode/Outputs

dQ

dV

M

CNT_OUT

Comments on

CNT_OUT

AttitudeEngine in ODR Mode (Accelerometer and Gyroscope Enabled)

CTRL6 Register

sEN=1

Quaternion

Increment

Velocity

Increment

No Data

AttitudeEngine

Sample count

8-bit data. Count

starts at 1, 256

count wraps to

0, i.e. Mod(256)

sMoD=0

CTRL7 Register

aEN=1

gEN=1

mEN=0

AttitudeEngine in Motion on Demand (MoD) mode (Accelerometer and Gyroscope enabled)

CTRL6 Register

sEN=1

Quaternion

Increment

Velocity

Increment

No Data

Gyroscope

Samples in

Integration

Window

8-bit data. Count

starts at 1, 256

count wraps to

0, i.e. Mod(256)

sMoD=1

CTRL7 Register

aEN=1

gEN=1

mEN=0

AttitudeEngine with Raw Magnetometer in ODR Mode (Accelerometer, Gyroscope and

Magnetometer Enabled)

CTRL6 Register

sEN=1

Quaternion

Increment

Velocity

Increment

Initial

Raw Mag

Data

AttitudeEngine

Sample Count

8-bit data. Count

starts at 1, 256

count wraps to

0, i.e. Mod(256)

sMoD=0

CTRL7 Register

aEN=1

gEN=1

mEN=1

FIS1100 • Rev. 1.2 30

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.7 CTRL 9 Functionality (Executing Pre-defined Commands)

5.7.1 CTRL 9 Description

The protocol for executing predefined commands from

an external host processor on the FIS1100 is facilitated

by the using the Control 9 (CTRL9) register on the

FIS1100. The register is available to the host via the SPI

/I2C bus. It operates by the host writing a pre-defined

value (Command) to the CTRL9 register. The firmware

of the FIS1100 evaluates this Command and if a match

is found it executes the corresponding pre-defined

function. Once the function has been executed, the

FIS1100 signals the completion of this by raising INT1

interrupt. The host must acknowledge this by reading

STATUS1 register bit 0. This is the CmdDone bit. After

this read, the FIS1100 pulls down the INT1 interrupt.

This command presentation from the host to the

FIS1100 and the subsequent execution and handshake

between the host and the FIS1000 will be referred to as

the “CTRL9 Protocol”.

There are three types of interactions between the host

and FIS1100 that follow the CTRL9 Protocol.

WCtrl9: The host needs to supply data to FIS1100 prior

to the Ctrl9 protocol. (Write – Ctrl9 Protocol)

Ctrl9R: The host gets data from FIS1100 following the

Ctrl9 protocol. (Ctrl9 protocol – Read )

Ctrl9: No data transaction is required prior to or

following the Ctrl9 protocol. (Ctrl9).

Table 30. CAL Register Addresses

Register Name

Register Address

Dec

Hex

CAL1_H

11

0x0B

CAL1_L

12

0x0C

CAL2_H

13

0x0D

CAL2_L

14

0x0E

CAL3_H

15

0x0F

CAL3_L

16

0x10

CAL4_H

17

0x11

CAL4_L

18

0x12

5.7.2 WCtrl9 (Write – CTRL9 Protocol)

1. The host needs to provide the required data for this

command to the FIS1100. The host typically does

this by placing the data in a set of registers called

the CAL buffer. Currently 8 CAL registers are used

the following table provides the name and

addresses of these registers.

2. Write Ctrl9 register 0x0a with the appropriate

Command value.

3. The Device will raise INT1 and set Bit 0 in

STATUS1 reg, to 1 once it have executed the

appropriate function based on the command value.

4. The host must acknowledge this by reading

STATUS1 register bit 0 (CmdDone) which is reset

to 0 on reading the register. Also INT1 is pulled low,

completing the CTRL9 transaction.

5. If any data is expected from the device it will be

available at this time. The location of the data is

specified separately for each of the Commands.

FIS1100 • Rev. 1.2 31

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.7.3 Ctrl9R (CTRL9 Protocol - Read)

1. Write Ctrl9 register 0x0A with the appropriate

Command value.

2. The Device will raise INT1 and set Bit 0 in

STATUS1 register to 1 once it has executed the

appropriate function based on the command value.

3. The host must acknowledge this by reading

STATUS1 register bit 0 (CmdDone) which is then

reset to 0 upon reading the register. Also INT1 is

pulled low upon the register read, completing the

CTRL9 transaction.

Data is available from the device at this time. The

location of the data is specified separately for each

of the Commands (see Section 5.7.5, CTRL9

Commands in Detail).

5.7.4 Ctrl9 (CTRL9 Protocol

Acknowledge)

1. Write CTRL9 register 0x0a with the appropriate

Command value.

2. The Device will raise INT1 and set Bit 0 in

STATUS1 register to 1 once it has executed the

appropriate function based on the command value.

3. The host must acknowledge this by reading

STATUS1 register bit 0 (CmdDone) which is then

reset to 0 upon reading the register. Also INT1 is

pulled low, upon the register read, completing the

CTRL9 transaction.

Table 31. CTRL9 Register CMND Values:

CMND Name

CTRL9

Command Value

Protocol

Type

Description

CTRL_CMD_RST_AHPF

0x03

Ctrl9

Reset Accelerometer High Pass Filter

from Host

CTRL_CMD_RST_GHPF

0x04

Ctrl9

Reset Gyroscope High Pass Filter from

Host

CTRL_CMD_AE_MAG_OFFSET

0x0b

WCtrl9

Set Magnetometer Offset from Host

CTRL_CMD_AE_GYRO_OFFSET

0x0e

WCtrl9

Set Gyroscope Offset from Host for most

accurate computation of dQ by AE

CTRL_CMD_REQ_MoD

0x0c

Ctrl9R

Get AE Data from Device in MoD Mode

CTRL_CMD_HOST_ACCEL_OFFSET

0x12

WCtrl9

Set Accelerometer Offset from Host

Dynamically

CTRL_CMD_HOST_GYRO_OFFSET

0x13

WCtrl9

Set Gyroscope Offset from Host

Dynamically

CTRL_CMD_MAG_SKOR_X

0x06

WCtrl9

Set X Magnetometer, Offset and Skew

from Host

CTRL_CMD_MAG_SKOR_Y

0x07

WCtrl9

Set Y Magnetometer, Offset and Skew

from Host

CTRL_CMD_MAG_SKOR_Z

0x08

WCtrl9

Set Z Magnetometer, Offset and Skew

from Host

CTRL_CMD_GET_TCYCLE

0x18

Ctrl9R

Get TCYCLE time from Device

CTRL_CMD_REQ_FIFO

0x0d

Ctrl9R

Get FIFO data from Device

CTRL_CMD_RST_FIFO

0x02

Ctrl9

Reset FIFO from Host

CTRL_CMD_WRITE_WoM_SETTING

0x19

WCtrl9

Set up and enable Wake on Motion

FIS1100 • Rev. 1.2 32

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.7.5 CTRL9 Commands in Detail

CTRL_CMD_RST_AHPF

This CTRL command of writing 0x03 to the CTRL9

register 0x0A allows the host to instruct the device to

reset the accelerometer high-pass filter.

CTRL_CMD_RST_GHPF

This CTRL9 command of writing 0x04 to the CTRL9

register 0x0A allows the host to instruct the device to

reset the gyroscope high-pass Filter.

CTRL_CMD_AE_MAG_OFFSET

This CTRL9 Command is issued to configure the AE

with specific magnetometer offset data. The X,Y & Z

magnetometer offset are provided to the device from the

host. They are 16 bit each and programmed into the

CAL1 to CAL3 registers respectively.

CTRL_CMD_AE_GYRO_OFFSET

This CTRL9 Command is issued to configure the AE

with specific Gyro offset data required for dQ

computations. The X,Y & Z gyro bias specific for AE

engine are provided to the device from the host. They

are 16 bit each and programmed into the CAL1 to CAL3

registers respectively.

CTRL_CMD_REQ_MoD

This CTRL9 command is used to retrieve motion data

from the FIS1100 when Motion on Demand mode (MoD)

is enabled. To enable MoD the device should have the

AttitudeEngine orientation enabled. This can be done by

enabling the AttitudeEngine by setting CTRL7 Bit 3

(sEN) to 1. Then the MoD mode can be enabled by

setting CTRL6 Bit 7 (sMoD) to 1. The

CTRL_CMD_REQ_MoD command is then issued by

writing 0x0C to CTRL9 register 0x0A. This indicates to

the FIS1100 that it is required to supply the motion data

to the host. The device immediately makes available the

orientation and velocity increments it has computed so

far to the host by making it available at output registers

0x25 to 0x3D and raise the INT1 to indicate to the host

that valid data is available.

CTRL_CMD_HOST_ACCEL_OFFSET

This CTRL9 command is issued when the host wants to

tune the accelerometer offset. The incremental value of

the offset should be 16 bit 2‟s complement format with 5

bits for signed integer and 11 bits fraction. The value

should be placed into the CAL1 to CAL3 register for X,

Y, and Z, respectively. The new value provided here will

be subtracted from the accelerometer base offset value.

The new value is used for dynamic calibration. There

will be a delay of up to 3 output samples before this

takes effect. Once the host has loaded the offset values

in the CALx registers it needs to issue the CTRL9

command by writing the 0x12 to CTRL9 register 0x0A.

CTRL_CMD_HOST_GYRO_OFFSET

This CTRL9 command is issued when the host wants to

tune the gyroscope offset. The incremental value of the

offset should be 16 bit 2‟s complement format with 10

bits for signed integer and 6 bits fraction. The value

should be placed into the CAL1 to CAL3 registers for X,

Y, and Z, respectively. The new value provided here is

subtracted from the gyroscope base offset value. The

new value is used for dynamic calibration. There will be

a delay of up to 3 output samples before this takes

effect. Once the host has loaded the offset values in the

CALx registers it needs to issue the CTRL9 command

by writing 0x13 to CTRL9 register 0x0A.

CTRL_CMD_MAG_SKOR_X

This CTRL9 Command is issued to configure the

Magnetometer device calibration value. The X Offset,

Scale and 2 skew values are provided to the device

from the host. They are 16 bits each and programmed

into the CAL1 to CAL4 registers. Once the host has

loaded the offset values in the CALx registers it needs

to issue the CTRL9 command by writing the 0x06 to

CTRL9 register 0x0a.

CTRL_CMD_MAG_SKOR_Y

This CTRL9 Command is issued to configure the

magnetometer device with the calibration value. The Y

offset, scale and 2 skew values are provided to the

device from the host. They are 16 bits each and

programmed into the CAL1 to CAL4 registers. Once the

host has loaded the offset values in the CALx registers it

needs to issue the CTRL9 command by writing 0x07 to

CTRL9 register 0x0A.

CTRL_CMD_MAG_SKOR_Z

This CTRL9 Command is issued to configure the

magnetometer device with the calibration value. The Z

offset, scale and 2 skew values are provided to the

device from the host. They are 16 bits each and

programmed into the CAL1 to CAL4 registers. Once the

host has loaded the offset values in the CALx registers it

needs to issue the CTRL9 command by writing 0x08 to

CTRL9 register 0x0A.

CTRL_CMD_GET_TCYCLE

This CTRL9 Command can only be issued when the

FIS1100 is in the AE Mode. The Host can issue this

command to get the exact time in milliseconds between

samples (for example 1 Hz ODR may not be exactly 1

sec but could be 0.998 seconds). This command is

issued by writing 0x18 to CTRL9 register 0x0A.

CTRL_CMD_REQ_FIFO

This CTRL9 Command is issued when the host wants to

get data from the FIFO. When the FIFO is enabled it will

be indicated to the host by asserting INT2 and thus

signaling that a flag condition (like FIFO full) has been

reached and that data is available to be read by the

host. This Command is issued by writing 0x0D to the

CTRL9 register 0x0A. The device will raise INT1 to

indicate that it is ready for a FIFO transaction. The host

must read the STATUS1 register bit 0 (CmdDone). At

this point the host should set the FIFO_rd_mode Bit to 1

(FIFO_CTRL register 0x13 bit 7). The device will direct

the FIFO data to the FIFO_DATA register 0x14 until the

FIFO is empty. The host must now set FIFO_rd_mode

to 0 which will cause the INT2 to be de-asserted.

CTRL_CMD_RST_FIFO

This CTRL9 command of writing 0x02 to the Ctrl9

register 0x0a allows the host to instruct the device to

reset the FIFO.

FIS1100 • Rev. 1.2 33

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

CTRL_CMD_WRITE_WOM_SETTING

This CTRL9 Command is issued when the host wants to

enable/modify the trigger thresholds or blanking interval

of the Wake on Motion Feature of the device. Please

refer to Section 8 for details for setting up this feature.

Once the specified CALx registers are loaded with the

appropriate data, the Command is issued by writing

0x19 to CTRL9 register 0x0A.

FIS1100 • Rev. 1.2 34

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

5.8 Interrupts

The FIS1100 has two Interrupt lines; INT1 and INT2.

INT1 is used as a general purpose interrupt. The details

are described in the specific sections where INT1 and

INT2 are used. The following provides a summary of the

INT1 and INT2 usage.

5.8.1 Interrupt 1 (INT1)

The following summarizes the use of INT1:

Set high for ~4 ms after reset to indicate that the chip is

ready for normal operation.

If any operation has set INT1 it will always be cleared by

reading STATUS1 register

Used as part of the CTRL9 handshake protocol (see

section 5.7)

During gyroscope OIS mode INT1 is driven by the

gyroscope ODR clock (~8 MHz). In this mode all normal

INT1 functions are disabled.

When Wake on Motion (WoM) is enabled, INT1 can be

selected to indicate WoM (see section 8).

5.8.2 Interrupt 2 (INT2)

INT2 generally indicates data availability. The following

indicates when INT2 will be asserted.

Register-Read Mode (FIFO Bypass Mode)

In Register-Read mode the accelerometer, gyroscope

and magnetometer data are available in the Sensor

Data Output registers (A[X,Y,Z]_[H,L]). The updating of

these output registers and the functionality of the INT2

interrupt is controlled by the syncSmpl bit as described

below.

With syncSmpl = 0 (refer to Table 25, CTRL7 register bit

7), INT2 is placed into edge trigger mode: the Sensor

Data Output Registers are updated at the Output Data

Rate (ODR), and INT2 is pulsed at the ODR. A rising

edge on INT2 indicates that data is available and INT2

is cleared automatically after a short duration. It is the

responsibility of the host to detect the rising edge and to

latch the data before the next sample occurs. Note that

the INT2 pulse width is dependent on the ODR and the

sensor. It is not recommended to depend on the level to

determine if INT2 has occurred.

With syncSmpl = 1 (refer to Table 25, CTRL7 register bit

7), INT2 is placed into level mode: The INT2 is asserted

when data is available and remains asserted until the

host reads STATUS0 register.

The device continues to refresh the output data until the

STATUS0 register is read by host.

Once the STATUS0 is read by host the FIS1100 will de-

assert INT2 and stop refreshing the output data. Once

the host detects INT2 has been de-asserted it can start

reading the output data.

Once the last byte of data is read by the host (FIS1100

keeps track) the FIS1100 will start updating the output

register and setup the next INT2 when data is available

in the output registers.

FIFO Enabled Mode (see Section 7)

When the FIFO is enabled in the FIFO mode (the mode

bits in FIFO_CTRL register set to 01), INT2 is asserted

when the FIFO is full or when the watermark is reached.

When the FIFO is enabled in the Streaming Mode (the

mode bits in FIFO_CTRL register set to 10), INT2 is

asserted when the watermark is reached but not when

the FIFO is full because in the stream mode the FIFO

will continue to fill by overwriting the oldest data in the

FIFO.

INT2 is cleared in both the FIFO Mode and the

Streaming Mode by clearing the FIFO_rd_mode bit in

the FIFO_CTRL register. This is done as part of the

CTRL9 command CTRL_CMD_REQ_FIFO (see Section

5.7.5 for details).

Accelerometer and Gyroscope Self Test Modes (see

Section 9)

INT2 is asserted to indicate availability of self-test data

and is cleared by resetting the aST and gST bits in

CTRL2 and CTRL3 registers, respectively.

AE Mode

In AE Mode, INT2 is asserted when data is available.

OIS LL Mode

In this mode, the gyroscope operates in a high data rate

Optical Image Stability (OIS) mode with Low Latency

(LL). Data is transmitted through the SPI interface at

8.1 kHz. The SPI bus can be operated using a 3-wire or

4-wire interface by setting the CTRL1 SIM bit. Data is

clocked out on the rising edge of INT2. The

accelerometer may be used in this mode with a 1 kHz

ODR.

FIS1100 • Rev. 1.2 35

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

6 Operating Modes

The FIS1100 offers a large number of operating modes

that may be used to operate the device in a power

efficient manner. These modes are described in Table

32 and are shown in Figure 8; they may be configured

using the control (CTRL) registers.

Table 32. Operating Modes

Mode

Description

Suggested Configuration

Sensor Modes

Power-On Default

All sensors off, clock is turned on. The current in this mode

is typically 15 µA. Note this mode is the default state upon

initial power up or after a reset.

CTRL1 sensorDisable = 0

CTRL7 aEN = 0, gEN = 0,

mEN = 0, sEN=0.

CTRL2 aODR=000

Low Power

Same as Power-On Default mode, except in this mode the

125 kHz clock is turned on instead of the 1 MHz clock. The

current in this mode is typically 5 µA. To enter this mode

requires host interaction to set CTRL2 aODR=1xxx.

CTRL1 sensorDisable =0

CTRL7 aEN = 0, gEN = 0,

mEN = 0, sEN=0.

CTRL2 aODR=1xx

Power-Down

All FIS1100 functional blocks are switched off to minimize

power consumption. Digital interfaces remain on allowing

communication with the device. All configuration register

values are preserved and output data register values are

maintained. The current in this mode is typically 2 µA. Host

must initiate this mode by setting sensorDisable=1

CTRL1 sensorDisable =1

CTRL7 aEN = 0, gEN = 0,

mEN = 0, sEN=0.

CTRL2 aODR=xxx

Accel Only

Device configured as an accelerometer only.

CTRL7 aEN =1, gEN =0,

mEN =0

CTRL2 aODR=0xx

Low Power Accel Only

Device configured in low power accelerometer mode

CTRL7 aEN =1, gEN =0,

mEN =0

CTRL2 aODR=1xx

Gyro Only

Device configured as a gyroscope only.

CTRL7 aEN =0, gEN =1,

mEN =0

CTRL2 aODR=000

Mag Only

Device configured as a magnetometer only.

CTRL7 aEN =0, gEN =0,

mEN =1

CTRL2 aODR=000

Accel + Mag

Device configured as an accelerometer and magnetometer

combination only. Device can be used as a (stabilized)

compass.

CTRL7 aEN =1, gEN =0,

mEN =1

CTRL2 aODR=0xx

Accel + Gyro (IMU)

Device configured as an Inertial Measurement Unit, i.e. an

accelerometer and gyroscope combination sensor.

CTRL7 aEN =1, gEN =1,

mEN =0

CTRL2 aODR=0xx

Accel + Gyro + Mag

(9DOF)

Accelerometer and gyroscope are enabled and combined

with an external magnetometer and the device can be used

as a 9D orientation sensor (Attitude and Heading

Reference).

CTRL7 aEN =1, gEN =1,

mEN =1

CTRL2 aODR=0xx

Wake on Motion (WoM)

Very low power mode used to wake-up the host by providing

an interrupt upon detection of device motion.

WoM Mode enabled - see

CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5 and

see Section 8, Wake On Motion (WoM)

CTRL7 aEN =1, gEN =0,

mEN =0

CTRL2 aODR = 111

Gyro Warm Start

This mode turns on the gyroscope drive and shuts off the

sense path of the gyroscope. This mode can be used as a

low-power mode to quickly turn on the gyroscope without

needing to wake-up the gyroscope from the Power On

Default state (see Figure 8 and Section 6.2).

CTRL3 gODR = 100

CTRL2 aODR = 0xx

FIS1100 • Rev. 1.2 36

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 32 Operating Modes (Continued)

Mode

Description

Suggested Configuration

Sensor Modes

OIS

In this mode, the gyroscope operates in a high data rate

Optical Image Stability (OIS) mode. Data is transmitted

through the SPI interface at 8.1 kHz. The SPI bus can be

operated using a 3-wire or 4-wire interface by setting the

CTRL1 SIM bit. Data is clocked out on the falling edge of

INT1. The accelerometer is not available in this mode.

CTRL3 gODR = 110

CTRL2 aODR = 0xx

OIS LL

In this mode, the gyroscope operates in a high data rate

Optical Image Stability (OIS) mode with Low Latency. Data

is transmitted through the SPI interface at 8.1 kHz. The SPI

bus can be operated using a 3-wire or 4-wire interface by

setting the CTRL1 SIM bit. Data is clocked out on the rising

edge of INT2. The accelerometer may be used in this mode

with a 1kHz ODR.

CTRL3 gODR = 111

CTRL2 aODR = 000

Hardware Reset

RST pin asserted

No Power

VDDd and VDDa low

Attitude Engine Modes

6DOF AttitudeEngine

Mode

Attitude Engine Mode with Accel and Gyro. Note that

velocity increments and orientation (quaternion) increments

will be output rather than sensor values

CTRL7 aEN = 1, gEN = 1, sEN

= 1

CTRL2 aODR=0xx

9DOF AttitudeEngine

Mode

AttitudeEngine Mode with Accel, Gyro, and Mag. Note that

velocity increments, orientation (quaternion) increments and

magnetic field values will be output rather than sensor

values

CTRL7 aEN = 1, gEN = 1, sEN

= 1,

mEN = 1

CTRL4 (configure

magnetometer as needed)

Motion On Demand

Mode

This mode allows Host to sample AttitudeEngine data

asynchronously by polling

CTRL7 aEN = 1, gEN = 1, sEN

= 1

CTRL6 sMOD = 1

FIS1100 • Rev. 1.2 37

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Power-On Default

(All Sensors Off, Normal

Clock)

Power Down

(All Sensors

and Clock Off)

sensorDisable

= 1

Mag Only

aODR=0-3

mODR=32Hz

No Power

Hardware

Reset

Wake on

Motion

(WoM)

aODR = 7

Low Power

(All Sensors

Off, Slow

Clock)

aODR=4-7

Low Power

Accel Only

aODR=4-7

Accel Only

aODR=0-3

Gyro Only

aODR=0-3

gODR=0-5

Gyro Warm Start

(Gyro Drive Off)

aODR=0-3

gODR=4-5

Accel + Gyro

(IMU)

aODR=0-3

gODR=0-3

OIS

aODR=0-3

gODR=7

Accel + Gyro

+ Mag (9DOF)

aODR=0-3

gODR=0-3

mODR=32Hz

OIS LL

aODR=0-3

gODR=6

From Any StateFrom Any State

t0 t0

t0

t7

t6

t3+t5

t6

t1+t5

t6

t1+t5

t6

t1+t5

t2 +t5

t4 + t5

t6

t1

t6

t1+t5

t4 +t5

t7

t6

t2+t5

t6t2+t5

t2+t5

t6

t2+t5

t7

t2+t5

t6

Accel + Mag

aODR=0-3

mODR=32Hz

t3+t5

t6

Figure 8. Operating Mode Transition Diagram

FIS1100 • Rev. 1.2 38

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

6.1 General Mode Transitioning

Upon exiting the No Power state (i.e. on first applying

power to the part) or exiting a Hardware Reset state, the

part will enter the Power-On Default state. From there,

the sensor can be configured in the various modes

described in Table 32 and as shown in Figure 8. The

figure illustrates the timing associated with various

mode transitions, and values for these times are given

in the section below and in Table 7 and Table 8.

6.2 Transition Times

The time it takes for data to be present after a mode

switch will vary and depends on which mode has been

selected. For example, the time it takes for retrieving

data from the accelerometer after a mode switch is less

than any mode that involves the gyroscope. The times

t1, t2, t3 and t4, are defined as the time it takes from

INT2 going high to data being present. The time, t5 is

the time it takes to have a correct representation of the

inertial state. t5 is variable and is associated with the

user selected Output Data Rate (ODR). We have

defined t5 = (3/ODR) to generally represent that time.

t6 is the time it takes to go from a sensor powered state

to a state where the sensors are off. This time depends

on the Output Data Rate (ODR) and ranges from 1/ODR

to 2/ODR.

t7 is the transition time between various states where

the sensors are off.

t0 is the System Turn On Time, and is the time to enter

the Power-On Default state from Hardware Reset, No

Power, or Power down.

 Time t0 is the System Turn on Time and is 1.75

seconds. This time only needs to be done once,

upon transitioning from either a No Power or Power

Down state, or whenever a RST (reset) is issued,

which should not be done unless the intent is to

have the device to go through its entire boot

sequence (see the specification System Turn On

Time in both Table 7 and Table 8).

 The Gyro Turn on Time (see Table 8) is comprised

of t1 (the gyroscope wakeup time) and t5 (the part‟s

filter settling time). t1 is typically 60 ms and t5 is

defined as 3/ODR, where ODR is the output data

rate in Hertz.

 The Accel Turn on Time (see Table 7) is comprised

of t2 (the accel wakeup time) and t5 (the part‟s filter

settling time). t2 is typically 3 ms, and t5 is defined

as 3/ODR, where ODR is the output data rate in

Hertz.

 Time t3 is the magnetometer wakeup time, which is

typically 12 ms. Transitioning from the Power-On

Default state to a Mag Only state or a Mag + Accel

state takes the time t3 + t5, where t5 is defined as

3/ODR, where ODR is the output data rate in Hertz.

 The Gyro Warm Start Turn On Time (see Table 8)

is comprised of t4 (the gyroscope wakeup time from

warm-start) and t5 (the part‟s filter settling time). T4

is typically 5 ms, and t5 is defined as 3/ODR, where

ODR is the output data rate in Hertz.

 The t7 transition is dependent on data transfer rates

and is for I2C at 400 kHz is <100 µs for SPI at

11 Mbps is around 40 µs.

FIS1100 • Rev. 1.2 39

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

7 FIFO Description

7.1 Using the FIFO

The FIS1100 contains a programmable 1536 byte data

buffer which can be used as a FIFO buffer. The FIFO‟s

operating mode and configuration are set via the

FIFO_CTRL register. FIFO data may consist of

gyroscope, accelerometer and magnetometer data and

is accessible via the serial interfaces. The FIFO also

supports burst reads. The host must complete its burst

read prior to the next sensor data period. This time

period is defined by the ODR selected. Depending on

how many sensors are enabled, the host will need to

read increments of 6, 12 or 18 bytes, corresponding to

one, two and three sensors active at the same time.

This feature helps reduce overall system power

consumption by enabling the host processor to read and

process the sensor data in bursts and then enter a low-

power mode. The interrupt function may be used to alert

when new data is available.

Accel X,Y,Z ADC

Accel Internal

Sampling Registers

Digital Filters

Gyro X,Y,Z ADC

Gyro Internal

Sampling Registers

Digital Filters

External Magnetomer

X,Y,Z

I2C Master I/F

Magnetometer

Internal Sampling

FIFO

(1536 Bytes)

FIFO Read Control

Logic

Host (SPI or I2C)

Figure 9. FIFO Data Flow

The FIFO size is configured using the FIFO_CTRL

register. When the FIFO is enabled for two or more

sensors, as is true for all modes that have multiple

sensors active, the sensors must be set at the same

Output Data Rate (ODR).

The FIFO is read through the I2C/SPI interface by

reading the FIFO_DATA register. Any time the Output

Registers are read, data is erased from the FIFO

memory.

The FIFO has multiple operating modes: Bypass, FIFO,

and Streaming. The operating modes are set using the

mode<1:0> bits in the FIFO_CTRL register.

Enabling FIFO

The FIFO is configured by writing to the FIFO_CTRL

register and is enabled after the accelerometer and/or

gyroscope are enabled. If the watermark function is

enabled in the FIFO_CTRL register, pin INT2 is

asserted when the FIFO watermark level is reached.

Reading Sensor Data from FIFO

Sensor data is read from the FIFO through the following

command sequence. (For additional information, see

the Section 5.7.1 for CTRL9 description).

 Request access to FIFO data buffer by sending

CTRL9 command 0x0D.

 Set FIFO_rd_mode bit to 1 in FIFO_CTRL.

 Read FIFO_DATA register to empty the FIFO.

 After FIFO is emptied, set FIFO_rd_mode bit to 0.

Note that when only the accelerometer or gyroscope is

enabled, the sensor data format at the host interface is:

AX_L[0]AX_H[0]]AY_L[0]AY_H[0]AZ_L

[0]AZ_H[0]AX_L[1]…

When 2 sensors are enabled, the sensor data format is:

AX_L[0]AX_H[0]AY_L[0]AY_H[0]

AZ_L[0]AZ_H[0]GX_L[0]GX_H[0]

GY_L[0]GY_H[0]GZ_L[0]GZ_H[0]

AX_L[1]AX_H[1]…

When 3 sensors are enabled, the sequence will be

extended to include the 6 corresponding magnetometer

samples.

Bypass Mode

In Bypass mode (set in FIFO_CTRL), the FIFO is not

operational and, therefore, remains empty. Sampled

data from the gyroscope and/or Accelerometer are

stored directly in the Sensor Data Output Registers (see

Table 28). When new data is available, the old data is

over-written.

FIFO Mode

In FIFO mode, data from the sensors are stored in the

FIFO. The watermark interrupt, if enabled in

FIFO_CTRL, is triggered when the FIFO is filled to the

level specified by the value of wtm<1:0> in the

FIFO_CTRL register. The FIFO continues filling until it is

full. When full, the FIFO stops collecting data from the

input channels. Data collection restarts when FIFO is

emptied.

Streaming Mode

In Streaming mode (set in FIFO_CTRL), data from the

gyroscope and accelerometer are stored in the FIFO. A

watermark interrupt can be enabled and set as in FIFO

mode. The FIFO continues filling until full. In this mode,

the FIFO acts as a circular buffer, when full, the FIFO

discards the older data as the new data arrives.

Programmable watermark level events can be enabled

to generate dedicated interrupts on the DRDY/INT2 pin

(configured through the FIFO_CTRL register).

FIS1100 • Rev. 1.2 40

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

7.2 FIFO Register Description

Table 33. FIFO Registers Description

Register Name

FIFO_CTRL

Configure FIFO. Register Address: 19 (0x13)

Bits

Name

Default

Description

7

FIFO_rd_mode

1‟b0

0: Disable FIFO read via FIFO_DATA register.

1: Enable FIFO read via FIFO_DATA register.

6

Reserved

1‟b0

Reserved

5:4

wtm<1:0>

2‟b0

Set Watermark level.

00 – Do not use.

01 – Set watermark at ¼ of FIFO size.

10 – Set watermark at ½ of FIFO size.

11 – Set watermark at ¾ of FIFO size.

3:2

size<1:0>

2‟b0

Set FIFO size. (See Table 34 for more details.)

00 – Set FIFO size at 16 samples for each enabled sensor

01 – Set FIFO size at 32 samples for each enabled sensor

10 – Set FIFO size at 64 samples for each enabled sensor

11 – Set FIFO size at 128 samples for each enabled sensor (up to 2 sensors

enabled only)

1:0

mode<1:0>

1‟b0

Set FIFO Mode.

00 – Bypass (FIFO disable).

01 – FIFO.

10 – Streaming.

11 – Not Used

FIFO_DATA

FIFO Data Register. Register Address: 20 (0x14)

Bits

Name

Default

Description

7:0

data<7:0>

8‟b0

Read this register to read sensor data out of FIFO.

FIFO_STATUS

FIFO Status. Register Address: 21 (0x15)

Bits

Name

Default

Description

7

resv

1‟b0

Reserved

6

wtm

1‟b0

Watermark level hit.

5

overflow

1‟b0

FIFO over-flow condition.

4

not_empty

1‟b0

FIFO not empty.

3:0

fss<3:0>

4‟b0

Indicates FIFO storage level. For more information, see Table 34

FIS1100 • Rev. 1.2 41

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Table 34. FIFO Storage Level Indicator fss<3:0> Description

fss<3:0> Description

Comments

The FIFO storage level is indicated by the bits fss<3:0> in the FIFO_STATUS

register. The value of fss<3:0> represents a coarse value of the FIFO storage level.

The coarseness or granularity varies based on the TOTAL FIFO size, as set by the

bits size<1:0> in the FIFO_CTRL register.

Total FIFO size is the sum of the Accelerometer, Gyroscope and Magnetometer

FIFO samples. Each sample for each sensor uses 6 bytes in the FIFO (2 bytes per

axis x 3 axes). For example, with 2 sensors active and the bits size<1:0> = [11], the

FIFO size is 256 samples (=2x128), which in bytes is 1536 bytes (=6*2*128).

In the table below, the Total FIFO Size lists the total number of sensor samples.

Note that this value varies based upon the number of sensors enabled and upon the

bits size<1:0> in the FIFO CTRL register .

The value of the bits fss<3:0> in the FIFO_STATUS register, represents a coarse

sample count, whose granularity is given by the number of sensor samples per LSB,

as shown below.

FIFO_CTRL

register,

bits

size<1:0>

No. of

Sensors

Enabled

(A, G, or M)

Total FIFO Size

(Total Number of Samples)

fss<3:0> Granularity

(Number of Sensor Samples per LSB)

00

1

16

2

01

1

32

4

00

2

00

3

48

4

10

1

64

8

01

2

01

3

96

8

11

1

128

16

10

2

10

3

192

16

11

2

256

32

FIS1100 • Rev. 1.2 42

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

8 Wake On Motion (WoM)

8.1 Wake on Motion Introduction

The purpose of the Wake on Motion (WoM) functionality

is to allow a system to enter a low power sleep state

while the system is static and then to automatically

awaken when moved. In this mode the system should

use very little power, yet still respond quickly to motion.

It is assumed that the system host processor is

responsible for configuring the FIS1100 correctly to

place it into Wake on Motion mode, and that the system

host processor will reconfigure the FIS1100 as

necessary following a WoM interrupt.

Wake on Motion is configured through the CTRL9

command interface (see write-up for

CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5

CTRL9 Commands in Detail).

Table 35. Registers used for WoM

Register (bits)

Function

CAL1_L (0:7)

WoM Threshold: absolute value in

mg (with 1mg/LSB resolution)

0x00 must be used to indicate that

WoM mode is disabled

CAL1_H (7;6)

WoM interrupt select

01 – INT2 (with initial value 0)

11 – INT2 (with initial value 1)

00 – INT1 (with initial value 0)

10 - INT2 (with initial value 1)

CAL1_H (0:5)

Interrupt blanking time (in number of

accelerometer samples)

The threshold value is configurable to make the amount

of motion required to wake the device controllable by

the host application. The special threshold value of 0x00

can be used to disable the WoM mode, returning the

interrupt pins to their normal functionality.

The interrupt initial value (1 or 0) and the interrupt pin

used for signaling (INT1 or INT2) are selectable to make

it easy for system integrators to use the WoM motion

mode to wake the host processor from its deepest sleep

level. Using the lowest power mode on many

microcontrollers requires the use of special wake up

pins that may have only a single polarity setting, and

thus may not be useable for other special purposes

such as timer captures.

The interrupt blanking time is a programmable number

of accelerometer samples to ignore when starting WoM

mode so that no spurious wake-up events are

generated by startup transients.

8.2 Accelerometer Configuration

For additional tuning of the WoM responsiveness, the

precise configuration of the accelerometer is left to the

host. This gives the host processor the ability to

program the desired sample rate and full-scale range.

8.3 Wake on Motion Event

When a Wake on Motion event is detected the FIS1100

will set bit 2 (WoM) in the STATUS1 register. Reading

STATUS1 by the host will clear the WoM bit and will

reset the chosen interrupt line (INT1 or INT2, see

previous section) to the value given by the WoM

interrupt initial value (see previous section).

For each WoM event, the state of the selected interrupt

line is toggled. This ensures that while the system is

moved, the host processor will receive wakeup

interrupts regardless of whether it uses high, low,

positive- or negative-edge interrupts.

The FIS1100 stays in WoM mode until commanded to

enter a new mode by the host processor.

8.4 Configuration Procedure

The host processor is responsible for all configurations

necessary to put the FIS1100 into WoM mode. The

specific sequence of operations performed by the host

processor to enable WoM is shown in Figure 10.

Figure 10. WoM Configuration

Commands and Sequence

The WoM bit is cleared upon setting the WoM threshold

to a non-zero value, and the selected interrupt pin is

configured according to the settings. Special care has

been taken that the WoM interrupt does not activate due

to any transients when the accelerometer is first

enabled. An interrupt blanking time is included that

prevents such spurious interrupts to propagate.

Disable sensors. (Write 0x00

to CTRL7)

Set Accelerometer sample

rate and scale (Write CTRL2)

Set Wake on Motion (WoM)

Threshold in CAL1_L;

select interrupt, polarity and

blanking time in CAL1_H

Execute CTRL9 command to

configure WoM mode

Set Accelerometer enable bit

in CTRL7

FIS1100 • Rev. 1.2 43

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

8.5 Wake on Motion Control Registers

The WoM configuration is controlled by values written to

the CAL1_x registers, as shown in Table 35.

8.6 Exiting Wake on Motion Mode

To exit WoM mode the host processor must first clear

CTRL7 to disable all sensors, and then write a threshold

value of 0x0 for the WoM Threshold (see Table 35,

Registers used for WoM)and execute the WoM

configuration CTRL9 command (see write-up for

CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5

CTRL9 Commands in Detail). On doing this the interrupt

pins will return to their normal function. After zeroing the

WoM Threshold the host processor may proceed to

reconfigure the FIS1100 as normal, as in the case

following a reset event.

Figure 11. WoM Example Diagram

FIS1100 • Rev. 1.2 44

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

9 Performing Device Self Test

9.1 Accelerometer Self Test

The accelerometer Self Test is used to determine if the

accelerometer is functional and working within

acceptable parameters. It does this by using an

electrostatic force to actuate the inputs of each axis, AX,

AY, and AZ. If the accelerometer mechanical structure

responds to this input stimulus by sensing 50 mg or

greater we can conclude that the accelerometer is

functional. The accelerometer Self Test data is available

to be read at registers dVX_L, dVX_H, dVY_L, dVY_H,

dVZ_L and dVZ_H. The Host can initiate the Self Test at

anytime by using the following procedure.

Procedure for accelerometer Self Test:

1. Set CTRL7 register to 0x00.

2. Wait 1 msec.

3. Set CTRL2 register to 0x10 (aFS =2, aODR= 0).

4. Wait 1 msec .

5. Set CTRL2 register to 0x30. This enables aST

(accelerometer Self Test enable bit).

6. Wait for the device to drive INT2 high.

7. Read DVX_L, DVX_H, DVY_ L, DVY_H, DVZ_L &

DVZ_H registers for the Self Test data.

8. Set CTRL2 register to 0x10 to disable aST.

9. INT2 will be pulled low by the FIS1100.

10. Set CTRL2 register to 0x00 ( back to default value

at power up)

11. Based on the data the host processor determines if

the accelerometer response is greater or equal to

50 mg.

12. If “yes”, then the accelerometer Self Test has

passed.

9.2 Gyroscope Self Test

The gyroscope Self Test is used to determine if the

gyroscope is functional and working within acceptable

parameters. It does this by applying an electrostatic

force to actuate each of the three X, Y, and Z axis of the

gyroscope and measures the mechanical response on

the corresponding X, Y, and Z axis. If the equivalent

magnitude of the output is greater than 300 dps for each

axis then we can assume that the gyroscope is

functional within acceptable parameters. The gyroscope

Self Test data is available to be read at output registers

dVX_L, dVX_H, dVY_L, dVY_H, dVZ_L & dVZ_H.

The Host can initiate the self test at anytime by using

the following procedure.

Procedure for gyroscope Self Test:

1. Set CTRL7 reg. to 0x00;

2. Wait 1 msec

3. Set CTRL3 to 0x38 (gFS = 7, gODR= 0) (full scale

= 4096 dps)

4. Wait 1 msec

5. Set CTRL3 register to 0x78. This enables gST

(gyroscope Self Test enable bit).

6. Wait for the device to drive INT2 high.

7. Read DVX_L, DVX_H, DVY_ L, DVY_H, DVZ_L &

DVZ_H registers for the self test Data.

8. Set CTRL3 register to 0x38 to disable gST.

9. INT2 will be pulled low by device.

10. Set CTRL3 register to 0x00 ( back to default value

at power up)

11. Based on the data the host processor determines

if the gyroscope response is greater or equal to

300 dps.

12. If “yes” then the gyroscope Self Test has passed.

FIS1100 • Rev. 1.2 45

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

10 Magnetometer Setup

10.1 Magnetometer Description

The FIS1100 provides an I2C master interface to

connect with an external magnetometer. Currently the

FIS1100 offers support for an AKM AK8975

magnetometer (see Figure 3). The FIS1100 supports

the AK8975 in the 31.25 Hz Output Data Rate (ODR)

mode only.

The FIS1100 is used to:

1. Calibrate the magnetometer data as per the

equations described below and to time align

magnetometer samples with the gyroscope and

accelerometer samples.

2. When FIS1100 is used in the AttitudeEngine (AE)

mode the magnetometer data along with the

accelerometer and gyroscope data is fused to

generate the AE data and is available to the host at

a significantly reduced ODR without loss of

accuracy.

10.2 Magnetometer Calibration

The raw data from the magnetometer is calibrated as

per the follow equations. Values for the different S, K,

O, and R variables are provided in the FIS1100 SDK

sample code.

Mx = STG(SxMxr + Ox + KxyMyr + KxzMzr)

My = STG(SyMyr + Oy + KyxMxr + KyzMzr)

Mz = STG(SzMzr + Oz + KzxMxr + KzyMyr)

where

Mxr, Myr, Mzr are the available uncalibrated (raw)

magnetometer values from AK8975.

Mx, My, Mz are the calibrated values available in the

magnetometer output register.

Sx ,Sy, Sz are the scale factors

Ox,Oy, Oz are the offsets

Kxy, Kxz, y and z cross axis scale factor for Mx

Kyx, Kyz, x and z cross axis scale factor for My

Kzx, Kzy, x and y cross axis scale factor for Mz

STG is a conversion factor to convert from micro-Tesla

format to Gauss format. STG = 1.536

The S, O, and K values are provided by the user as the

SKOR values

SKOR_X -> {Sx, Ox, Kxy, Kxz}

SKOR_Y -> {Sy, Oy, Kyx, Kyz}

SKOR_Z -> {Sz, Oz, Kzx, Kzy}

Table 36. Magnetometer Scale and Sensitivity

Settings

SKOR

Scale

Setting

Sensitivity

Unit

Scale

+8

8192

lsb/unit

Offset

±16

2048

lsb/unit

Skew1

±4

8192

lsb/unit

Skew2

±4

8192

lsb/unit

FIS1100 • Rev. 1.2 46

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

11 Host Serial Interface

FIS1100 Host Serial Interface supports I2C and SPI

slave interfaces. For SPI, it supports both 3-wire and 4-

wire modes. The basic timing characteristics for each

interface are described below. Through the FIS1100

Host Serial Interface, the host can access, setup and

control the FIS1100 Configuration Registers (see Table

25).

11.1 Serial Peripheral Interface (SPI)

FIS1100 supports both 3- and 4-wire modes in the SPI

slave interface. The SPI 4-wire mode uses two control

lines (CS, SPC) and two data lines (SDI, SDO). The SPI

3-wire mode uses the same control lines and one bi-

directional data line (SDIO). The SDI /SDIO pin is used

for both 3- and 4-wire modes and is configured based

on the mode selected. The SPI interface has been

validated at 10 MHz and the timing parameters are

measured at that interface frequency.

SPI 3- or 4-wire modes are configured by writing to bit-7

of CTRL1 register. 3-wire mode is selected when bit-7 is

1. The default configuration is 4-wire mode, i.e. bit-7 of

CTRL1 is 0.

Figure 12 shows the SPI address and data formats.

SPI Features

 Data is latched on the rising edge of the clock

 Data should change on falling edge of clock

 Maximum frequency is 10 MHz

 Data is delivered MSB first

 Support single read/writes and multi cycle (Burst)

read/writes. NOTE: burst writes to Configuration

registers are NOT supported. These registers

should be written in single cycle mode only.

 Supports 6-bit Address format and 8-bit data format

Figure 12. SPI Address and Data Form

In a single cycle read or write transaction, the inc

address bit should be set to 0. During a burst read, the

master indicates to the slave that the master expects

data from the incremented address locations during a

read by setting inc to 1. During a burst write, if the inc bit

is set to 1, the master indicates to the slave that it is

providing data from incremented address locations.

Similarly, when the inc bit is set to 0, the master

indicates that data is expected from or is available from

the same address respectively during a burst read or

write cycle.

Figure 13. Typical SPI 4-Wire Multi-Slave

Figure 14. Typical SPI 3-Wire Multi-Slave

FIS1100 • Rev. 1.2 47

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

In a typical SPI Master/Slave configuration the SPI

master shares the SPI clock (SPC), the serial data input

(SDI), and the Serial Data Output (SDO) with all the

connected SPI slaves devices. Unique Chip Select (CS)

lines connect each SPI slave to the master.

Figure 13 and Figure 14 show typical multi-slave 4- and

3-wire configurations. The primary difference between

the two configurations is that the SDI and SDO lines are

replaced by the bi-directional SDIO line. The SDIO line

is driven by the master with both address and data

when it is configured for write mode. During read mode,

the SDIO line is driven by the master with the address,

and subsequently driven by the “addressed” slave with

data.

Figure 15 and Figure 16 illustrate the waveforms for

both 4-wire and 3-wire SPI read and write transactions.

Note that CS is active during the entire transaction.

Figure 15. SPI 4-Wire Single Byte Read and Write

Figure 16. SPI 4-Wire Multi-Byte Read and Write Transactions

FIS1100 • Rev. 1.2 48

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Figure 17. SPI 3-Wire Single Byte Read and Write Transactions

Figure 18. SPI 3-Wire Multi-Byte Read and Write Transactions

CS

SPC

SPI 3-wire Single Byte Read and Write

Read inc A5 A4 A3 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0A2

SDIO

1 0

1 1

READ INC

Single Read

0 0

0 1

Burst Read

Single Write

Burst Write

FIS1100 • Rev. 1.2 49

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

11.1.1 SPI Timing Characteristics

The typical operating conditions for the SPI interface are provided in Table 37

VDDd = 1.8 V, T = 25°C unless otherwise noted.

Table 37. SPI Interface Timing Characteristics

Symbol

Parameter

Min.

Max.

Unit

tSPC

SPI Clock Cycle

100

ns

fSPC

SPI Clock Frequency

10

MHz

tsCS

CS Setup Time

6

ns

thCS

CS Hold Time

8

ns

tsSDI

SDI Input Setup Time

5

ns

thSDI

SDI Input Hold Time

15

ns

tvSDO

SDO Time for Valid Output

50

ns

thSDO

SDO Hold Time for Output

9

ns

tdSDO

SDO Disable Time for Output

50

ns

tsSDIO

SDIO Address Setup Time

5

ns

thSDIO

SDIO Address Hold Time

15

ns

tvSDIO

SDIO Time for Valid Data

50

ns

tczSDIO

SDIO Time from SPC to High Z

50

ns

tzSDIO

SDIO Time from CS to High Z

50

ns

Figure 19. Timing Characteristics for SPI 3- and 4-Wire Interfaces

FIS1100 • Rev. 1.2 50

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

11.2 I2C Interface

Table 38 provides the I2C interface timing characteristics

while Figure 20 and Figure 21 illustrate the I2C timing for

both fast and standard modes, respectively.

During the slave device selection phase, the I2C master

supplies the 7-bit I2C slave device address to enable the

FIS1100. The 7-bit device address for the FIS1100 is

0x6a (0b1101010) if SA0 is left unconnected, internally

there is a weak pull-down of 200 k thereby selecting

bit-0=0. In case of a slave device ID conflict, SA0 may

be used to change bit-0 of the device address. When

SA0 is pulled up externally, the 7-bit device address

becomes 0x6b (0b1101011).

During the slave register address phase bit-7 of the

address is used to enable auto-increment of the target

address. When bit-7 is set to 1 the target address is

automatically incremented by one.

For additional technical details about the I2C standard,

such as pull-up resistor sizing the user is referred to

“UM10204 I2C-bus specification and user manual”

published by NXP B.V.

Table 38. I2C Timing Characteristics

Symbol

Parameter

Conditions

Min.

Typ.

Max.

Unit

fSCL

SCL Clock Frequency

Standard Mode

100

kHz

Fast Mode

400

tBUF

Bus-Free Time between STOP and

START Conditions

Standard Mode

4700

ns

Fast Mode

1300

tHD;STA

START or Repeated START Hold Time

Standard Mode

4000

ns

Fast Mode

600

tLOW

SCL LOW Period

Standard Mode

4700

ns

Fast Mode

1300

tHIGH

SCL HIGH Period

Standard Mode

4000

ns

Fast Mode

600

tSU;STA

Repeated START Setup Time

Standard Mode

4700

ns

Fast Mode

600

tSU;DAT

Data Setup Time

Standard Mode

250

ns

Fast Mode

100

tHD;DAT

Data Hold Time

Standard Mode

0

3450

ns

Fast Mode

0

900

tRCL, tR

SCL Rise Time

Standard Mode

1000

ns

Fast Mode

20 + 0.1 * CB(16)

300

tFCL

SCL Fall Time

Standard Mode

300

ns

Fast Mode

20 + 0.1 * CB(16)

300

tRDA, tRCL1

SDA Rise Time.

Rise Time of SCL after a Repeated

START Condition and after ACK Bit

Standard Mode

1000

ns

Fast Mode

20 + 0.1 * CB(16)

300

tFDA

SDA Fall Time

Standard Mode

300

ns

Fast Mode

20 + 0.1 * CB(16)

300

tSU;STO

Stop Condition Setup Time

Standard Mode

4000

ns

Fast Mode

600

Note:

16. CB is the bus capacitance.

FIS1100 • Rev. 1.2 51

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

Figure 20. I2C Standard Mode Interface Timing

Figure 21. I2C Fast Mode Interface Timing

FIS1100 • Rev. 1.2 52

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

12 Package and Handling

12.1 Package Drawing

Figure 22. 16 Pin LGA 3.3 x 3.3 x 1 mm Package

3.40

(2.18)

0.32(16x)

0.61(16X)

0.50

58

4

1

9

12

13

16

(0.25) (1.50)

BOTTOM VIEW

TOP VIEW

SIDE VIEW

NOTES:

A. JEDEC PUBLICATION 95 DESIGN REGISTRATION

4.25 ISSUE A, EXCEPT FOR BODY SIZE

INCREMENT RULE APPLIES TO THIS PACKAGE.

B. DIMENSIONS ARE IN MILLIMETERS.

C. DIMENSIONS AND TOLERANCES PER

ASME Y14.5M, 1994.

D. LAND PATTERN RECOMMENDATION IS

BASED ON FSC DESIGN ONLY.

E. DRAWING FILENAME: MKT-LGA16Arev2.

F. FAIRCHILD SEMICONDUCTOR.

AB

RECOMMENDED LAND PATTERN

0.10 C

0.08 C

3.30

0.10 C

2X

SEATING

PLANE

0.10 C

PIN #1

IDENT

0.10 C A B

0.08 C

PIN#1

IDENT

112

5 6 7 8

2

3

4

13

11

10

9

141516

0.10 C A B

0.08 C

0.15

0.05(4X)

1.50

0.50

DETAIL A

0.45

0.35(16X)

0.35

0.25(16X)

0.55

0.45

DETAIL A

C

INSULATION

METALLIZED

PAD

1.00 MAX. 0.95

0.05

(0.10)

0.55

0.45

Do not solder center tab

FIS1100 • Rev. 1.2 53

FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor

12.2 Reflow Specification

Figure 23. Reflow Profile

12.3 Storage Specifications

FIS1100 storage specification conforms to IPC/JEDEC J-STD-020D.01 Moisture Sensitivity Level (MSL) 3.

Floor life after opening the moisture-sealed bag is 168 hours with storage conditions: Temperature: ambient to ≤30°C

and Relative Humidity: 60%RH.

13 Related Resources

AN-5083 — Low Power Motion Co-Processor for High Accuracy Tracking Applications

AN-5084 — XKF3 Low-Power, Optimal Estimation of 3D Orientation using Inertial and Magnetic Sensing

AN-5085 — FIS1100 Board Level Calibration

3.40

(2.18)

0.32(16x)

0.61(16X)

0.50

58

4

1

9

12

13

16

(0.25) (1.50)

BOTTOM VIEW

TOP VIEW

SIDE VIEW

NOTES:

A. JEDEC PUBLICATION 95 DESIGN REGISTRATION

4.25 ISSUE A, EXCEPT FOR BODY SIZE

INCREMENT RULE APPLIES TO THIS PACKAGE.

B. DIMENSIONS ARE IN MILLIMETERS.

C. DIMENSIONS AND TOLERANCES PER

ASME Y14.5M, 1994.

D. LAND PATTERN RECOMMENDATION IS

BASED ON FSC DESIGN ONLY.

E. DRAWING FILENAME: MKT-LGA16Arev2.

F. FAIRCHILD SEMICONDUCTOR.

AB

RECOMMENDED LAND PATTERN

0.10 C

0.08 C

3.30

0.10 C

2X

SEATING

PLANE

0.10 C

PIN #1

IDENT

0.10 C A B

0.08 C

PIN#1

IDENT

112

5 6 7 8

2

3

4

13

11

10

9

141516

0.10 C A B

0.08 C

0.15

0.05(4X)

1.50

0.50

DETAIL A

0.45

0.35(16X)

0.35

0.25(16X)

0.55

0.45

DETAIL A

C

INSULATION

METALLIZED

PAD

1.00 MAX. 0.95

0.05

(0.10)

0.55

0.45

Do not solder center tab

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