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FIS1100 6D Inertial Measurement Unit with Motion CoProcessor and Sensor Fusion Library Features Description Worlds First Complete Consumer Inertial Measurement Unit (IMU) with Sensor Fusion Library to Specify Orientation Accuracy: 3 Pitch and Roll, 5 Yaw/Heading 3-Axis Gyroscope and 3-Axis Accelerometer in a Small 3.3 x 3.3 x 1 mm LGA Package FIS1100 is the worlds 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. Integrated AttitudeEngine 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 TM 2 The FIS1100 incorporates a 3-axis Gyroscope and a 3axis Accelerometer and can connect an external 3-axis 2 magnetometer through an I C master thus forming a complete 9DOF system. The FIS1100 also incorporates an advanced vector Digital Signal Processor (DSP) motion co-processor called the AttitudeEngineTM. 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 Virtual Reality and Augmented Reality Host Serial Interface Supporting I C or SPI 2 I C Master for Interfacing External Magnetometer Embedded Temperature Sensor Wide Extended Operating Temperature Range (-40C to 85C) (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Optical Image Stabilization (OIS) and Electrical Image Stabilization (EIS) Robotic Orientation and Position Tracking Sport & Fitness Wearables Pedestrian Navigation and GNSS Augmentation www.fairchildsemi.com FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor July 2016 1 General Information ...................................................................................................... 4 1.1 1.2 1.3 1.4 1.5 1.6 2 FIS1100 Architecture ...................................................................................................... 8 2.1 2.2 2.3 2.4 3 Ordering Information .........................................................................................................4 Marking Information ..........................................................................................................4 Internal Block Diagram .......................................................................................................4 Application Diagram ..........................................................................................................5 Package & Pin Information .................................................................................................6 Recommended External Components .................................................................................7 AttitudeEngine Mode Overview .........................................................................................8 Advantages of the Attitude Engine Approach ......................................................................8 9D Sensor Fusion and Auto-Calibration using XKF3 .............................................................9 Frames of Reference and Conventions for Using FIS1100................................................... 10 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 5 Register Map Overview ................................................................................................ 18 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 6.2 7 General Mode Transitioning ............................................................................................. 38 Transition Times .............................................................................................................. 38 FIFO Description........................................................................................................... 39 7.1 7.2 Using the FIFO ................................................................................................................. 39 FIFO Register Description ................................................................................................. 40 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 2 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table of Contents Wake On Motion (WoM) .............................................................................................. 42 8.1 8.2 8.3 8.4 8.5 8.6 9 Wake on Motion Introduction .......................................................................................... 42 Accelerometer Configuration ........................................................................................... 42 Wake on Motion Event .................................................................................................... 42 Configuration Procedure .................................................................................................. 42 Wake on Motion Control Registers ................................................................................... 43 Exiting Wake on Motion Mode ......................................................................................... 43 Performing Device Self Test .......................................................................................... 44 9.1 9.2 Accelerometer Self Test ................................................................................................... 44 Gyroscope Self Test .......................................................................................................... 44 10 Magnetometer Setup ................................................................................................... 45 10.1 10.2 Magnetometer Description .............................................................................................. 45 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 12.2 12.3 Package Drawing ............................................................................................................. 52 Reflow Specification......................................................................................................... 53 Storage Specifications ...................................................................................................... 53 13 Related Resources........................................................................................................ 53 14 Document Information................................................................................................. 54 14.1 Revision History ............................................................................................................... 54 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 3 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 8 1.1 Ordering Information Table 1. 1.2 Ordering Information Part Number Package Packing Method FIS1100 LGA16 Tape & Reel Marking Information Assembly Plant Code Year Code Week Code ZXYKK Lot Code FIS1100 Device Name Pin 1 Identifier Figure 1. Top Mark 1.3 Internal Block Diagram Figure 2. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Internal Block Diagram www.fairchildsemi.com 4 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 1 General Information NC Application Diagram A4 RSV SCL SDA A1 TST1 NC NC C2 TST2 NC B3 TST6 VID VDD C4 B1 100nF AK8975C CSB SO DRDY A3 7 SCL2 6 D4 10k A2 B4 NC C3 NC 10k 5 RESV1 NC 4 RESV2 NC 1 RESV3 VSS CAD0 CAD1 C1 D1 SPC SDA2 CS SDI FIS1100 SDO VDDD VDDA D2 8 100nF GND GND 2 15 100nF 14 10 13 9 SPC CS MOSI MISO RST 16 GPO INT1 12 GPI1 INT2 11 GPI2 MCU 3 100nF 1.8V 2.7 - 3.3V nominal Figure 3. Typical Application Diagram (Showing Magnetometer Connected through FIS1100 2 Master I C and a SPI 4 Wire Interface Connected to the Host Processor) (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 5 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 1.4 Package & Pin Information 16 INT2/DRDY RST INT2/DRDY 15 11 INT1/CLKout GNDd 2 INT1/CLKout 14 12 FIS1100 Top Through View SCL/SPC 13 VDDa 13 SDA/SDI/SDO 14 1 SDA/SDI/SDO SCL/SPC 15 16 GNDd RST RESV3 12 FIS1100 Bottom View 11 NC RESV3 2 VDDa NC GNDa 3 10 CS RESV2 4 9 SA0/SDO CS 10 3 GNDa SA0/SDO 9 4 RESV2 RESV1 SDA2 5 6 VDDd SCL2 8 SCL2 7 7 SDA2 VDDd 6 RESV1 8 5 Figure 4. Pins Face Down (Top View) Do Not Solder Center Pin (NC) Table 2. 1 Figure 5. Pins Face Up (Bottom View) Do Not Solder Center Pin (NC) Pin Definitions Pin # Name 1 RESV3 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 I C Serial Data 7 SCL2 Master I CSerial Clock 8 VDDd Power Supply for Digital and IO Pins 9 10 (1) SA0 Alternate Name Alternate Name Description Reserved. Connect to Board Ground (GND) 2 2 2 (1)(3) Host I C Slave Address LSB (SA0); Host 4-Wire SPI Serial Data Output (SDO) SDO 2 Host SPI Chip Select (1 = I C Mode). See SPI Mode Configuration section CS 11 INT2 DRDY Interrupt2. Data Ready/FIFO Interrupt 12 INT1 CLKout Interrupt1. General Purpose Interrupt. Clock out in OIS Mode 13 SDA SDI 14 SCL SPC 15 GNDd 16 *** 2 RST (2)(3) (2)(3) SDIO Host I C Serial Data (SDA); Host 4-Wire SPI Serial Data Input (SDI); Host 3-Wire SPI Serial Data Output (SDIO) 2 Host I C Serial Clock (SCL); Host SPI Serial Clock (SPC) (2)(3) Ground 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 2. In SPI mode (not in I C Mode), there is an internal pull down 200 K resistor. 3. Refer to Section 1 for detailed configuration information. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 6 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 1.5 Recommended External Components Table 3. Recommended External Components Component Description Parameter Typical Cp1 Capacitor Capacitance 100 nF Cp2 Capacitor Capacitance 100 nF Resistor Resistance 10 K Rpu (4) VDDd 13 1 (RESV3) VDDa Cp1 12 16 GND SDA SCL GND RST Note: 2 4. Rpu is only needed when the Host Serial Interface is configured for I C. They are not needed when the Host 2 Serial Interface is configured for SPI. See I C Interface section. If Pull-up resistors are used on SCL and SDA, 2 then both SPI and I C Modes are possible. If a Pull-up is used on SA0, an alternate slave address is used for 2 2 I C. SPI Mode will be unaltered with the use of Pull-ups for I C. INT1 GND Cp2 GND INT2 VDDa VDD I2C Bus NC CS GND Rpu Rpu 4 NC 9 SCL/SPC SA0 SDA/SDI/SDO Pull-ups should be added when I2C interface is used. (RESV2) Figure 6. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 VDDd SCL2 SDA2 NC 8 (RESV1) 5 Typical Electrical Connections www.fairchildsemi.com 7 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 1.6 FIS1100 is a smart sensor that combines a highperformance IMU with a powerful Single Instruction Multiple Data (SIMD) based Vector DSP motion coprocessor referred to as the AttitudeEngineTM (AE). 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-theart applications such as rolling shutter camera stabilization, optical sensors software de-blurring, GNSS integration and augmented or virtual reality. Included sensor fusion software (XKF3) allows the device to achieve orientation accuracies of 3 for pitch and roll and 5 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 (nonOIS 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. 2.2 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. 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 recalibration 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 converters. The FIS1100 also provides time synchronization of data between the IMU and the external magnetometer. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Advantages of the Attitude Engine Approach 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. www.fairchildsemi.com 8 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 2 FIS1100 Architecture XKF3 Features: 9D Sensor Fusion and AutoCalibration 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 XsensTM, 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. 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 Extensive Status Reporting for Smooth Integration in Applications Optimized Library for Popular Microcontrollers Best-in-Class Immunity to Transient Accelerations Flexible use Unreferenced Scenarios, North Referenced, 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 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 9 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 2.3 2.4 Chip Orientation Coordinate System Figure 7 shows the various frames of reference and conventions for using FIS1100. 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 AttitudeEngineTM 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 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 coordinate 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 10 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Figure 7. 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 TSTG Storage Temperature TPmax Lead Soldering Temperature, 10 Seconds VDDa Supply Voltage VDDd I/O Pins Supply Voltage Sg (5) (6) ESD Min. Max. Unit -40 +125 C +260 C -0.3 3.6 V -0.3 2.05 V 10,000 g Acceleration g for 0.2 ms (Un-powered) Electrostatic Discharge Human Body Model per JES001-2014 Protection Level Charged Device Model per JESD22-C101 2000 V 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. Symbol Recommended Operating Conditions 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 0.3 *VDDd V VIL Digital Low Level Input Voltage VIH Digital High Level Input Voltage VOL Digital Low Level Output Voltage VOH Digital High Level Output Voltage (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 0.7 *VDDd V 0.1 *VDDd 0.9 *VDDd V V www.fairchildsemi.com 11 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 3 System, Electrical and Electro-Mechanical Characteristics 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. 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 AN5085 application note). The system performance specifications assume that good engineering practices Table 6. System Level 3D Orientation Accuracy Specifications Subsystem FIS1100+XKF3 quaternion Parameter Typical Unit 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 FIS1100+XKF3 quaternion 3.4 Output Data Rate 5-25 deg/h 8 - 1000 Hz Comments From Allan Variance bias instability. Does not require a magnetometer. (See specification above for use with magnetometer.) Fully immune to magnetic distortions. To benefit from the power saving using the AttitudeEngine, use a max ODR of 64 Hz. Electro-Mechanical Specifications VDDd = 1.8 V, VDDa = 2.7 V, T = 25C unless otherwise noted. Table 7. Accelerometer Electro-Mechanical Specifications Subsystem Parameter Typical Noise Density Sensitivity Scale Factor Cross-Axis Sensitivity Temperature Coefficient of Offset (TCO) Accelerometer Temperature Coefficient of Sensitivity (TCS) Initial Offset Tolerance Initial Sensitivity Tolerance Unit g/Hz High-Resolution Mode 50 Scale Setting Sensitivity 2 g 16,384 4 g 8,192 8 g 4,096 2 System Turn On Time (VDDd and VDDa within 1% of Final Value) (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 mg/C Over-Temperature Range of -40C to 85C at Board Level 2.5 (Z-Axis) 0.01 (X and Y Axis) 0.02 (Z Axis) 50 1 (X and Y Axis) 1 LSB/g 16-Bit Output % 1 (X and Y Axis) 3 (Z Axis) Non-Linearity %/C mg Component Level % Board Level % Best Fit Line 3.4.1.1.1.1 1.75 Comments s From Hardware Reset, No Power, or Power Down to Power-on Default state. = t0 in Figure 8 www.fairchildsemi.com 12 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 3.3 Subsystem Parameter Accel Turn On Time Table 8. Typical Unit 3ms + 3/ODR 3.4.1.1.1.2 ms Comments Accel Turn on from Power-On Default state or from Low Power state. = t2 + t5 in Figure 8. Gyroscope Electro-Mechanical Specifications Subsystem Parameter Sensitivity Minimum Natural Frequency Typical Unit Scale Setting Sensitivity 32 dps 1024 64 dps 512 128 dps 256 256 dps 128 512 dps 64 1024 dps 32 2048 dps 16 2560 dps 8 > 19.3 LSB/dps High-Resolution Mode mdps/Hz 10 13.5 Non-Linearity Gyroscope 3.4.1.1.1.3 % 2 System Turn On Time (VDDd and VDDa within 1% of Final Value) 1.75 s 60ms + 3/ODR Gyro Warm Start Turn On Time 5ms + 3/ODR Temperature Coefficient of Offset (TCO) X & Y Axis 0.1 Z Axis 0.02 Temperature Coefficient of Sensitivity (TCS) X & Y Axis 0.07 Z Axis 0.02 X & Y Axis 10 Z Axis 1 X & Y Axis 3 Z Axis 1 Initial Sensitivity Tolerance (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 FSO=2560 dps % Gyro Turn On Time Initial Offset Tolerance OIS Mode with gLPF=1 OIS LL Mode, 2 kHz BW < 0.2 Cross-Axis Sensitivity 16-Bit Output kHz 10 Noise Density Comments 3.4.1.1.1.4 ms From Hardware Reset, No Power, or Power Down to Power-on Default state. = t0 in Figure 8 Gyro Turn on from Power-On Default = t1 + t5 in Figure 8. ms From Gyro Warm-Start to Gyro Only or Accel + Gyro modes. = t4 + t5 in Figure 8. dps/C Over-Temperature Range of -40C to 85C %/C Over-Temperature Range of -40C to 85C dps Board Level % Board Level www.fairchildsemi.com 13 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 7. Accelerometer Electro-Mechanical Specifications (Continued) Magnetometer and AttitudeEngine Range and Scale Typical Subsystem Parameter Unit Comments Scale Setting Sensitivity Typical Sensor Magnetometer Sensitivity Mode Scale Factor 16 gauss 2,048 LSB/gauss 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 AE Mode 3.5 16 Bit Output Accelerometer Programmable Characteristics VDDd = 1.8 V, VDDa = 2.7 V, T = 25C 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 50 50 50 125 180 285 820 g/Hz Table 11. Accelerometer Filter Characteristics Mode (7) High-Resolution Low-Power Unit ODR 1000 250 125 31.25 125 62.5 25 3 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 HighPass Filter Enabled (aHPF=1) 2.50 0.60 0.30 0.08 0.30 0.15 0.10 0.013 Hz Note: 7. All frequencies are 5% and are synchronized to the gyro oscillator ("drive") frequency. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 14 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 9. Gyroscope Programmable Characteristics VDDd = 1.8 V, VDDa = 2.7 V, T = 25C, 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 ODR Bandwidth High-Resolution Snooze Warm-Start OIS OIS LL gHPF=0 1000 250 125 31.25 Snooze 8100 8100 gLPF=0 500 125 62.5 15.625 N/A 4050 2000 gLPF=1 200 50 25 6 N/A 345 N/A Corner Frequency (fc) gHPF01=0 with High-Pass Filter gHPF01=1 Enabled (gHPF=1) (8) Unit Hz (8) 2.5 0.625 0.3125 0.08 N/A 0.1 N/A 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 At Frequency (Hz) Filter Bandwidth (Hz) Typical 4050 0.11 2000 (OIS LL) 0.5 345 1.1 Group Delay 10 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Unit ms www.fairchildsemi.com 15 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 3.6 Electrical Characteristics VDDd = 1.8 V; VDDa = 2.7 V; T = 25C unless otherwise noted. Table 14. Electrical Subsystem Characteristics Symbol Parameter fSPC Host SPI Interface Speed fSCL Host I C Interface Speed fSCL2 Master I C Interface Speed Min. Max. Unit 10 2 2 Typ. (9) Standard Mode 100 Fast Mode 400 Standard Mode 25 Fast Mode 300 MHz kHz kHz Note: 2 2 9. When only accelerometer is enabled, I C master operates at 25 kHz. When gyroscope is enabled, I C master operates at 300 kHz. 3.7.1 Current Consumption VDDd = 1.8 V, VDDa = 2.7 V, T = 25C unless otherwise noted. Typical numbers are provided below. Table 15. Current Consumption for Accelerometer Only Typical Sensor Mode (Gyroscope Disabled) Mode High-Resolution ODR Unit 1000 250 125 31.25 125 62.5 25 3 220 220 220 220 35 35 20 7 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 Typical Analog Current IDDa Typical Digital (11) Current IDDd Low-Power (10) Hz A Table 16. Current Consumption for Gyroscope Only Typical Sensor Mode (Accelerometer Disabled) Mode High-Resolution ODR OIS, OIS (8) LL Unit Hz 1000 250 125 31.25 Snooze 8100 2540 2540 2540 2540 1240 2540 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 Typical Analog Current IDDa Typical Digital (11) Current IDDd Snooze Warm-Start (10) A 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 Typical Digital Current IDDd High-Resolution Unit ODR 1000 250 125 31.25 Typical Analog Current IDDa 2750 2750 2750 2750 Filters Disabled (aLPF=0; gLPF=0; aHPF=0; gHPF=0; gHPF01=0) 815 780 780 780 Filters Enabled (aLPF=1; gLPF=1; aHPF=1; gHPF=1; gHPF01=0) 830 790 780 780 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Hz A www.fairchildsemi.com 16 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 3.7 Unit Mode ODR Setting 1 2 4 8 16 32 64 Typical Analog Current IDDa 2750 2750 2750 2750 2750 2750 2750 Filters Disabled (aLPF=0; gLPF=0) 930 930 930 930 930 930 930 Filters Enabled (aLPF=1; gLPF=1) 940 940 940 940 940 940 940 Typical Digital Current IDDd Hz A Table 19. Current Consumption for 9DOF Attitude Engine Mode (with Magnetometer) Mode ODR 1 2 4 8 16 32 Typical Analog Current IDDa 2750 2750 2750 2750 2750 2750 990 990 990 990 990 990 Typical Digital Current IDDd 3.8 Unit With Magnetometer at 32 Hz Hz A 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. 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. Table 20. Temperature Sensor Specifications Subsystem Parameter Typical Range Digital Temperature Sensor (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Unit -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 www.fairchildsemi.com 17 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 18. Current Consumption for 6DOF Attitude Engine Mode (without Magnetometer) 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: Count Register for time stamping the sensor samples FIFO Registers: To setup the FIFO and detect data availability and over-run. General Purpose Registers Host Controlled Calibration Registers: Controls and Configures various aspects of the IMU via Host Command interface called CTRL9 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 2 I C or SPI. A detailed description of each register including the register settings necessary to configure the FIS1100 operational modes is provided in Section 5. Setup and Control Registers: Controls various aspects of the IMU. Table 21. Register Overview Register Address Name Type Default Comment Dec Hex Binary General Purpose Registers WHO_AM_I r 0 00 00000000 11111100 Device Identifier Setup and Control Registers SPI Interface and Sensor Enable (for clock and power management) CTRL1 rw 2 02 00000010 00000000 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 CTRL5 rw 6 06 00000110 00000000 Data Processing Settings CTRL6 rw 7 07 00000111 00000000 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 Magnetometer Settings: Output Data Rate, and Device Selection AttitudeEngineTM Settings: Output Data Rate, Motion on Demand Host Controlled Calibration Registers (See CTRL9, Usage is Optional) CAL1_L rw 11 0B 00001011 00000000 Calibration Register 0C 00001100 00000000 CAL1_L - lower 8 bits. CAL1_H - upper 8 bits. CAL1_H rw 12 CAL2_L rw 13 CAL2_H rw 14 0D 00001101 00000000 Calibration Register 0E 00001110 00000000 CAL2_L - lower 8 bits. CAL2_H - upper 8 bits. CAL3_L rw 15 0F CAL3_H rw 16 10 CAL4_L rw 17 11 CAL4_H rw 18 12 00010001 00000000 Calibration Register 00010010 00000000 CAL4_L - lower 8 bits. CAL4_H - upper 8 bits. 00001111 00000000 Calibration Register 00010000 00000000 CAL3_L - lower 8 bits. CAL3_H - upper 8 bits. 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 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 18 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 4 Register Map Overview Name Type Register Address Dec Hex Binary Default Comment Status Registers STATUS0 r 22 16 00010110 00000000 Output Data Over Run and Data Availability STATUS1 r 23 17 00010111 00000000 r 24 18 Miscellaneous Status: Wake on Motion, FIFO ready, CmdDone (CTRL9 protocol bit) Count Register CNT_OUT 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 AX_H r 26 1A AY_L r 27 1B AY_H r 28 1C AZ_L r 29 1D AZ_H r 30 1E GX_L r 31 1F GX_H r 32 20 GY_L r 33 21 GY_H r 34 22 GZ_L r 35 23 GZ_H r 36 24 MX_L r 37 25 MX_H r 38 26 MY_L r 39 27 MY_H r 40 28 MZ_L r 41 29 MZ_H r 42 2A dQW_L r 45 2D dQW_H r 46 2E dQX_L r 47 2F dQX_H r 48 30 dQY_L r 49 31 dQY_H r 50 32 dQZ_L r 51 33 dQZ_H r 52 34 dVX_L r 53 35 dVX_H r 54 36 dVY_L r 55 37 dVY_H r 56 38 dVZ_L r 57 39 dVZ_H r 58 3A (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 00011001 00000000 X-axis Acceleration 00011010 00000000 AX_L - lower 8 bits. AX_H - upper 8 bits. 00011011 00000000 Y-axis Acceleration 00011100 00000000 AY_L - lower 8 bits. AY_H - upper 8 bits. 00011101 00000000 Z-axis Acceleration 00011110 00000000 AZ_L - lower 8 bits. AZ_H - upper 8 bits. 00011111 00000000 X-axis Angular Rate 00100000 00000000 GX_L - lower 8 bits. GX_H - upper 8 bits. 00100001 00000000 Y-axis Angular Rate 00100010 00000000 GY_L - lower 8 bits. GY_H - upper 8 bits. 00100011 00000000 Z-axis Angular Rate 00100100 00000000 GZ_L - lower 8 bits. GZ_H - upper 8 bits. 00100101 00000000 X-axis Magnetic Field 00100110 00000000 MX_L - lower 8 bits. MX_H - upper 8 bits. 00100111 00000000 Y-axis Magnetic Field . 00101000 00000000 MY_L - lower 8 bits. MY_H - upper 8 bits. 00101001 00000000 Z-axis Magnetic Field. 00101010 00000000 MZ_L - lower 8 bits. MZ_H - upper 8 bits. 00101101 00000000 Quaternion Increment dQW. 00101110 00000000 dQW_L - lower 8 bits. dQW_H - upper 8 bits. 00101111 00000000 Quaternion Increment dQX. 00110000 00000000 dQX_L - lower 8 bits. dQX_H - upper 8 bits. 00110001 00000000 Quaternion Increment dQY. 00110010 00000000 dQY_L - lower 8 bits. dQY_H - upper 8 bits. 00110011 00000000 Quaternion Increment dQZ 00110100 00000000 dQZ_L - lower 8 bits. dQZ_H - upper 8 bits. 00110101 00000000 Velocity Increment along X-axis, or X-axis Angular Rate for OIS LL mode, or Self test sensor data 00110110 00000000 dVX_L - lower 8 bits. dVX_H - upper 8 bits. 00110111 00000000 Velocity Increment along Y-axis, or Y-axis Angular Rate for OIS LL mode, or Self test sensor data 00111000 00000000 dVY_L - lower 8 bits. dVY_H - upper 8 bits. 00111001 00000000 Velocity Increment along Z-axis, or Z-axis Angular Rate for OIS LL mode, or Self test sensor data 00111010 00000000 dVZ_L - lower 8 bits. dVZ_H - upper 8 bits. www.fairchildsemi.com 19 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 21. Register Overview (Continued) Name Type Register Address Dec Hex Default Binary Comment 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 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 Unit Comments M[X,Y,Z]_[H,L] gauss In Sensor Frame of Reference, Right-handed Coordinate System Temperature TEMP FIFO Based Output FIFO_DATA (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 C Temperature of the sensor See FIFO Description section for more details on using the FIFO to store and access multiple samples www.fairchildsemi.com 20 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 21. Register Overview (Continued) AttitudeEngine Mode Configuration and Output Data In AE Mode, FIS1100 outputs orientation (quaternion) and velocity increments. T Orientation increments are expressed in unit quaternion format. dQ = [QW, QX, QY, QZ] 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 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] Velocity Increment dV[X,Y,Z]_[H,L] Magnetic Field Unit Comments Unit Quaternion format in sensor frame ms -1 M[X,Y,Z]_[H,L] gauss Rotation compensated velocity increment (based on specific force), rotated to sensor frame of reference 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 5.3 C Temperature of the sensor General Purpose Register Table 24. General Purpose Register Description Register Name WHO_AM_I Bits 7:0 Register Address: 0 (0x00) Name WHO_AM_I (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Default 0xFC Description Device identifier FC - to identify the device is a Fairchild sensor www.fairchildsemi.com 21 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.2 Configuration Registers This section describes the various operating modes and register configurations of the FIS1100. Table 25. Configuration Registers Description Register Name CTRL1 Bits 7 6:1 0 SPI Interface and Sensor Enable. Register Address: 2 (0x02) Name Default SIM 1b0 0: Enables 4-wire SPI interface 1: Enables 3-wire SPI interface Reserved 6b0 Reserved sensorDisable 1b0 0: Enables internal 1 MHz oscillator 1: Disables internal 1 MHz oscillator For more detail, see Table 32 and see Figure 8 CTRL2 5 4:3 Accelerometer Settings: Address: 3 (0x03) Name Bits 7:6 Description Default Description Reserved 2b0 Reserved aST 1b0 Enable Accelerometer Self Test. For more detail, see Section 9.1 2b0 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 aFS<1:0> Set Accelerometer Output Data Rate (ODR): 2:0 aODR<2:0> (12) (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 3b0 Setting ODR Rate (Hz) Mode 000 001 010 011 100 101 110 111 1000 250 125 31.25 125 62.5 25 3 High Resolution High Resolution High Resolution High Resolution Low Power Low Power Low Power Low Power LPF Bandwidth LPF Bandwidth (Hz), aLPF=0 (Hz), aLPF=1 500 125 62.5 15.625 62.5 31.25 12 2 200 50 25 5 25 15 5 0.6 www.fairchildsemi.com 22 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.4 Register Name CTRL3 Bits Gyroscope Settings: Address 4 (0x04) Name Default Description 7 Reserved 1b0 6 gST 1b0 Enable Gyro Self-Test. For more detail, see Section 9.2, Gyroscope Self Test 3b0 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 5:3 gFS<2:0> Set Gyroscope Output Data Rate (ODR): 2:0 gODR<2:0> (12) 3b0 Setting ODR Rate (Hz) 000 001 010 011 1000 250 125 31.25 High-Resolution High-Resolution High-Resolution High-Resolution Gryo Warm-Start 0 ("Snooze") 8100 OIS (13) 8100 OIS LL 10X 110 111 CTRL4 Bits 7:6 Mode LPF LPF Bandwidth Bandwidth (Hz), gLPF=1 (Hz). gLPF=0 500 125 62.5 15.625 200 50 25 6 NA NA 4050 2000 345 (14) N/A Magnetometer Settings: Address: 5 (0x05) Name Reserved Default Description 2b0 5:4 mDEV<1:0> 2b0 3:2 Reserved 2b0 Designate External Magnetometer Device: Setting Vendor 00 AKM Part Number AK8975 Set Recommended Magnetometer Output Data Rate (ODR): 1:0 mODR<1:0> 2b0 Setting 10 ODR Rate (Hz) 31.25 Description 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 23 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 25 Configuration Register Description (Continued) Register Name CTRL5 Bits Sensor Data Processing Settings. Register Address: 6 (0x06) Name Default Description Reserved 3b0 4 gHPF01 1b0 Set HPF corner frequency. See Table associated with gHPF bit below. 3 gLPF 1b0 0: Disable Gyroscope Low-Pass Filter. 1: Enable Gyroscope Low-Pass Filter. 7:5 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 250 125 31.25 8100 (gODR=110) 8100 (gODR=111) 0.1 0.0250 0.0125 0.0032 0.1000 (14) N/A 2.5 0.6250 0.3125 0.0800 0.1000 (14) N/A 2 gHPF 1b0 1 aLPF 1b0 0: Disable Accelerometer Low-Pass Filter. 1: Enable Accelerometer Low-Pass Filter. 0 aHPF 1b0 0: Disable Accelerometer High-Pass Filter 1: Enable Accelerometer High-Pass Filter. CTRL6 Bits 7 6:3 Attitude Engine ODR and Motion on Demand: Address: 7 (0x07) Name Default sMoD 1b0 Reserved 4b0 Description 0: Disables Motion on Demand. 1: Enables Motion on Demand (Requires sEN=1). Attitude Engine Output Data Rate (ODR) 2:0 sODR<2:0> 3b0 Setting ODR Rate (Hz) 000 001 010 011 100 101 110 111 1 2 4 8 16 32 (15) 64 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 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 24 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 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 7 syncSmpl 1b0 6:4 Reserved 3b0 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. 3 sEN 1b0 0: Disable AttitudeEngine orientation and velocity increment computation 1: Enable AttitudeEngine orientation and velocity increment computation 2 mEN 1b0 0: Magnetometer placed in Standby or Power-down Mode. 1: Enable Magnetometer 1 gEN 1b0 0: Gyroscope placed in Standby or Power-down Mode. 1: Enable Gyroscope. 0 aEN 1b0 0: Accelerometer placed in Standby or Power-down Mode. 1: Enable Accelerometer. Reserved - Special Settings. Register Address: 9 (0x09) CTRL8 Bits 7:0 Name Default Reserved 0x00 Description Not Used Register Name CTRL9 Host Commands. Register Address: 10 (0x0A) (See Section 5.7, CTRL 9 Functionality (Executing Pre-defined Commands)) (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 25 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 25 Configuration Register Description (Continued) Status and Count Registers Table 27. Status and Time Stamp Registers Register Name STATUS0 Bits Output Data Status Register Address: 22 (0x16) Name Default Description 7 aeOVRN 1b0 0: No overrun 1: AE data overrun. Previous data overwritten before it was read. 6 mOVRN 1b0 0: No overrun 1: Magnetometer data overrun. Previous data overwritten before it was read. 5 gOVRN 1b0 0: No overrun 1: Gyroscope data overrun. Previous data overwritten before it was read. 4 aOVRN 1b0 0: No overrun 1: Accelerometer data overrun. Previous data overwritten before it was read. 3 aeDA 1b0 AE new data available 0: No updates since last read. 1: New data available. 2 mDA 1b0 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 1b0 Gyroscope new data available 0: No updates since last read. 1: New data available. 0 aDA 1b0 Accelerometer new data available 0: No updates since last read. 1: New data available. STATUS1 Bits Miscellaneous Status. Register Address 23 (0x17) Name Default Description Reserved 5b0 2 WoM 1b0 Wake on Motion detected (see Section 8 for more details) 1 FIFO_rddy 1b0 FIFO ready to be read. 0 CmdDone 1b0 Bit read by Host Processor as part of CTRL9 register protocol. See Section 5.7 for more information. 7:3 Sample Time Stamp - Output Count. Register Address: 24 (0x18) CNT_OUT Bits 7:0 Name CNT_OUT<7:0> (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Default 0x00 Description Sample time stamp. Count incremented by one for each sample (x, y, z data set) from sensor with highest ODR (circular register 0x00-0xFF). www.fairchildsemi.com 26 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.5 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] Bits Acceleration Output. Register Address: 25 - 30, (0x19 - 0x1E) Name Default 7:0 AX_L<7:0> 0x00 7:0 AX_H<15:8> 0x00 7:0 AY_L<7:0> 0x00 7:0 AY_H<15:8> 0x00 7:0 AZ_L<7:0> 0x00 7:0 AZ_H<15:8> 0x00 Description X-axis acceleration in twos complement. AX_L - lower 8 bits. AX_H - upper 8 bits. Y-axis acceleration in twos complement. AY_L - lower 8 bits. AY_H - upper 8 bits. Z-axis acceleration in twos complement. AZ_L - lower 8 bits. AZ_H - upper 8 bits. Register Name G[X,Y.Z]_[H,L] Bits Angular Rate Output. Register Address: 31 - 36 (0x1F - 0x24) Name Default 7:0 GX_L<7:0> 0x00 7:0 GX_H<15:8> 0x00 7:0 GY_L<7:0> 0x00 7:0 GY_H<15:8> 0x00 7:0 GZ_L<7:0> 0x00 7:0 GZ_H<15:8> 0x00 Description X-axis angular rate in twos complement. GX_L - lower 8 bits. GX_H - upper 8 bits. Y-axis angular rate in twos complement. GY_L - lower 8 bits. GY_H - upper 8 bits. Z-axis angular rate in twos complement. GZ_L - lower 8 bits. GZ_H - upper 8 bits. Register Name M[X,Y,Z]_[H,L] Bits Magnetometer Output. Register Address: 37 - 42. (0x25 - 0x2A) Name Default 7:0 MX_L<7:0> 0x00 7:0 MX_H<15:8> 0x00 7:0 MY_L<7:0> 0x00 7:0 MY_H<15:8> 0x00 7:0 MZ_L<7:0> 0x00 7:0 MZ_H<15:8> 0x00 Description X-axis magnetic field data in twos complement. MX_L - lower 8 bits. MX_H - upper 8 bits. Y-axis magnetic field data in twos complement. MY_L - lower 8 bits. MY_H - upper 8 bits. Z-axis magnetic field data in twos complement. MZ_L - lower 8 bits. MZ_H - upper 8 bits. Continued on the following page... (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 27 Register Name dQ[1,2,3,4]_[H,L] Bits Quaternion Output. Register Addresses: 45 - 52 (0x2D - 0x34) Name Default 7:0 dQW_L<7:0> 0x00 7:0 dQW_H<15:8> 0x00 7:0 dQX_L<7:0> 0x00 7:0 dQX_H<15:8> 0x00 7:0 dQY_L<7:0> 0x00 7:0 dQY_H<15:8> 0x00 7:0 dQZ_L<7:0> 0x00 7:0 dQZ_H<15:8> 0x00 dV[X,Y,Z]_[H,L] Bits Description Quaternion Increment dQW in twos complement. dQW_L - lower 8 bits. dQW_H - upper 8 bits. Quaternion Increment dQX in twos complement. dQX_L - lower 8 bits. dQX_H - upper 8 bits. Quaternion Increment dQY in twos complement. dQY_L - lower 8 bits. dQY_H - upper 8 bits. Quaternion Increment dQZ in twos complement. dQZ_L - lower 8 bits. dQZ_H - upper 8 bits. Delta Velocity Output. Register Address: 53 - 58 (0x35- 0x3A) Name Bits Name 7:0 dVX_L<7:0> 0x00 7:0 dVX_H<15:8> 0x00 X-axis Velocity Increment in twos complement. dVX_L - lower 8 bits. dVX_H - upper 8 bits. When gODR=111, OIS LL Gyro X-axis data in twos complement Also used for accelerometer or gyro self test data 7:0 dVY_L<7:0> 0x00 7:0 dVY_H<15:8> 0x00 7:0 dVZ_L<7:0> 0x00 7:0 dVZ_H<15:8> 0x00 TEMP Name Default TEMP<7:0> AE_REG1 Bits Z-axis Velocity Increment in twos complement. dVZ_L - lower 8 bits. dVZ_H - upper 8 bits. When gODR=111, OIS LL Gyro Z-axis data in twos complement Also used for accelerometer or gyro self test data Temperature Output. Register Address: 59. (0x3B) Bits 7:0 Y-axis Velocity Increment in twos complement. dVY_L - lower 8 bits. dVY_H - upper 8 bits. When gODR=111, OIS LL Gyro Y-axis data in twos complement Also used for accelerometer or gyro self test data 0x00 Description Temperature output (C) in twos complement. AttitudeEngine Register 1, Address: 60 (0x3C) Name Default Description 7 MagBiasAck 1b0 Acknowledgement that Mag Bias was updated during this time period. 6 GyroBiasAck 1b0 Acknowledgement that Gyro Bias was updated during this time period. 5 wz_clip 1b0 Gyroscope Z-axis data was clipped during the dQ calculation. 4 wy_clip 1b0 Gyroscope Y-axis data was clipped during the dQ calculation. 3 wx_clip 1b0 Gyroscope X-axis data was clipped during the dQ calculation. 2 az_clip 1b0 Accelerometer Z-axis data was clipped during the dQ calculation. 1 ay_clip 1b0 Accelerometer Y-axis data was clipped during the dQ calculation. 0 ax_clip 1b0 Accelerometer X-axis data was clipped during the dQ calculation. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 28 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 28 Sensor Data Output Registers Description (Continued) Register Name AE_REG2 Bits AttitudeEngine Register 2, Address: 61 (0x3D) Name Default Description 7 Reserved 1b0 6 Reserved 1b0 5 mz_clip 1b0 Mag Z-axis data was clipped. 4 my_clip 1b0 Mag Y-axis data was clipped. 3 mx_clip 1b0 Mag X-axis data was clipped. 2 dvz_of 1b0 Velocity Increment overflow along dvz. 1 dvy_of 1b0 Velocity Increment overflow along dvy. 0 dvx_of 1b0 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) sEN=1 CTRL6 Register sMoD=0 aEN=1 CTRL7 Register Quaternion Increment Velocity Increment No Data AttitudeEngine Sample count gEN=1 8-bit data. Count starts at 1, 256 count wraps to 0, i.e. Mod(256) mEN=0 AttitudeEngine in Motion on Demand (MoD) mode (Accelerometer and Gyroscope enabled) sEN=1 CTRL6 Register sMoD=1 aEN=1 CTRL7 Register Quaternion Increment Velocity Increment gEN=1 No Data Gyroscope Samples in Integration Window 8-bit data. Count starts at 1, 256 count wraps to 0, i.e. Mod(256) mEN=0 AttitudeEngine with Raw Magnetometer in ODR Mode (Accelerometer, Gyroscope and Magnetometer Enabled) sEN=1 CTRL6 Register sMoD=0 aEN=1 CTRL7 Register Quaternion Increment Velocity Increment gEN=1 Initial AttitudeEngine Raw Mag Sample Count Data 8-bit data. Count starts at 1, 256 count wraps to 0, i.e. Mod(256) mEN=1 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 29 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 28 Sensor Data Output Registers Description (Continued) CTRL 9 Functionality (Executing Pre-defined Commands) Table 30. CAL Register Addresses 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 2 /I C 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". Register Name 1. WCtrl9: The host needs to supply data to FIS1100 prior to the Ctrl9 protocol. (Write - Ctrl9 Protocol) 2. Ctrl9R: The host gets data from FIS1100 following the Ctrl9 protocol. (Ctrl9 protocol - Read ) 3. Ctrl9: No data transaction is required prior to or following the Ctrl9 protocol. (Ctrl9). 4. 5. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 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 There are three types of interactions between the host and FIS1100 that follow the CTRL9 Protocol. Register Address WCtrl9 (Write - CTRL9 Protocol) 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. Write Ctrl9 register 0x0a with the appropriate Command value. 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. 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. 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. www.fairchildsemi.com 30 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.7 1. 2. 3. Ctrl9R (CTRL9 Protocol - Read) 5.7.4 Write Ctrl9 register 0x0A with the appropriate Command value. 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. 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). 1. 2. 3. Ctrl9 (CTRL9 Protocol Acknowledge) Write CTRL9 register 0x0a with the appropriate Command value. 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. 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: CTRL9 Command Value Protocol Type 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 CTRL_CMD_WRITE_WoM_SETTING 0x19 WCtrl9 CMND Name (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Description Reset FIFO from Host Set up and enable Wake on Motion www.fairchildsemi.com 31 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.7.3 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. 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_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_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_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_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_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_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_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 2s 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_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_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 2s 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 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 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. www.fairchildsemi.com 32 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.7.5 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 33 The device continues to refresh the output data until the STATUS0 register is read by host. 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 Once the STATUS0 is read by host the FIS1100 will deassert 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. 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. 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. 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) 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. 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 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). Interrupt 2 (INT2) INT2 generally indicates data availability. The following indicates when INT2 will be asserted. Accelerometer and Gyroscope Self Test Modes (see Section 9) 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. 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. 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. 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. 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 34 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 5.8 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 A. 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 A. 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 A. Host must initiate this mode by setting sensorDisable=1 CTRL1 sensorDisable =1 CTRL7 aEN = 0, gEN = 0, mEN = 0, sEN=0. CTRL2 aODR=xxx Device configured as an accelerometer only. CTRL7 aEN =1, gEN =0, mEN =0 CTRL2 aODR=0xx 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 Accel Only Low Power Accel Only Very low power mode used to wake-up the host by providing an interrupt upon detection of device motion. Wake on Motion (WoM) Gyro Warm Start WoM Mode enabled - see CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5 and see Section 8, Wake On Motion (WoM) 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). (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 CTRL7 aEN =1, gEN =0, mEN =0 CTRL2 aODR = 111 CTRL3 gODR = 100 CTRL2 aODR = 0xx www.fairchildsemi.com 35 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 6 Operating Modes Mode Description Suggested Configuration Sensor Modes OIS OIS LL Hardware Reset No Power 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 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 CTRL3 gODR = 111 bus can be operated using a 3-wire or 4-wire interface by CTRL2 aODR = 000 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. RST pin asserted 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) This mode allows Host to sample AttitudeEngine data asynchronously by polling CTRL7 aEN = 1, gEN = 1, sEN =1 CTRL6 sMOD = 1 Motion On Demand Mode (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 36 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 32 Operating Modes (Continued) From Any State Hardware Reset No Power Power Down (All Sensors and Clock Off) sensorDisable =1 t2+t5 t7 Mag Only aODR=0-3 mODR=32Hz t2+t5 Low Power (All Sensors Off, Slow Clock) aODR=4-7 t7 t3+t5 t0 t0 t0 t6 t6 t7 Power-On Default (All Sensors Off, Normal Clock) t6 t6 t3+t5 t6 Accel + Mag aODR=0-3 mODR=32Hz t2+t5 t2+t5 t6 t6 t6 Low Power Accel Only aODR=4-7 t6 t7 t6 t6 t1+t5 Accel + Gyro + Mag (9DOF) aODR=0-3 gODR=0-3 mODR=32Hz t2+t5 t1+t5 t1+t5 t1+t5 Accel Only aODR=0-3 t4 +t5 OIS aODR=0-3 gODR=7 Gyro Only aODR=0-3 gODR=0-5 t1 Gyro Warm Start (Gyro Drive Off) aODR=0-3 gODR=4-5 OIS LL aODR=0-3 gODR=6 t1+t5 t2 +t5 t6 t4 + t5 t6 Figure 8. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Accel + Gyro (IMU) aODR=0-3 gODR=0-3 Operating Mode Transition Diagram www.fairchildsemi.com 37 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Wake on Motion (WoM) aODR = 7 From Any State 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 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 parts 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 parts 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 parts 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 s for SPI at 11 Mbps is around 40 s. 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 38 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 6.1 7.1 Reading Sensor Data from FIFO Using the 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). The FIS1100 contains a programmable 1536 byte data buffer which can be used as a FIFO buffer. The FIFOs 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 lowpower mode. The interrupt function may be used to alert when new data is available. 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] Accel X,Y,Z ADC External Magnetomer X,Y,Z Gyro X,Y,Z ADC AZ_L[0]AZ_H[0]GX_L[0]GX_H[0] GY_L[0]GY_H[0]GZ_L[0]GZ_H[0] I2C Master I/F Accel Internal Sampling Registers Magnetometer Internal Sampling Digital Filters AX_L[1]AX_H[1]... Gyro Internal Sampling Registers When 3 sensors are enabled, the sequence will be extended to include the 6 corresponding magnetometer samples. Digital Filters 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 (1536 Bytes) FIFO Read Control Logic FIFO Mode Host (SPI or I2C) Figure 9. 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. 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. 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). 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 39 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 7 FIFO Description FIFO Register Description Table 33. FIFO Registers Description Register Name FIFO_CTRL Bits Configure FIFO. Register Address: 19 (0x13) Name Default Description 7 FIFO_rd_mode 1b0 0: Disable FIFO read via FIFO_DATA register. 1: Enable FIFO read via FIFO_DATA register. 6 Reserved 1b0 Reserved 2b0 Set Watermark level. 00 - Do not use. 01 - Set watermark at 1/4 of FIFO size. 10 - Set watermark at 1/2 of FIFO size. 11 - Set watermark at 3/4 of FIFO size. 2b0 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) 1b0 Set FIFO Mode. 00 - Bypass (FIFO disable). 01 - FIFO. 10 - Streaming. 11 - Not Used 5:4 3:2 1:0 wtm<1:0> size<1:0> mode<1:0> FIFO_DATA Bits 7:0 FIFO Data Register. Register Address: 20 (0x14) Name Default 8b0 data<7:0> FIFO_STATUS Bits Name Description Read this register to read sensor data out of FIFO. FIFO Status. Register Address: 21 (0x15) Default Description 7 resv 1b0 Reserved 6 wtm 1b0 Watermark level hit. 5 overflow 1b0 FIFO over-flow condition. 4 not_empty 1b0 FIFO not empty. fss<3:0> 4b0 Indicates FIFO storage level. For more information, see Table 34 3:0 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 40 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 7.2 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. fss<3:0> Description 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 00 2 32 4 00 3 48 4 10 1 01 2 64 8 01 3 96 8 11 1 10 2 128 16 10 3 192 16 11 2 256 32 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 41 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Table 34. FIFO Storage Level Indicator fss<3:0> Description 8.1 host. This gives the host processor the ability to program the desired sample rate and full-scale range. 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. 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). 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. 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. 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 The FIS1100 stays in WoM mode until commanded to enter a new mode by the host processor. Register (bits) 8.4 CAL1_L (0:7) CAL1_H (7;6) Function 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. WoM Threshold: absolute value in mg (with 1mg/LSB resolution) 0x00 must be used to indicate that WoM mode is disabled WoM interrupt select 01 - INT2 (with initial value 0) 11 - INT2 (with initial value 1) Disable sensors. (Write 0x00 to CTRL7) 00 - INT1 (with initial value 0) 10 - INT2 (with initial value 1) CAL1_H (0:5) Interrupt blanking time (in number of accelerometer samples) Set Accelerometer sample rate and scale (Write CTRL2) 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. Set Wake on Motion (WoM) Threshold in CAL1_L; select interrupt, polarity and blanking time in CAL1_H 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. Execute CTRL9 command to configure WoM mode Set Accelerometer enable bit in CTRL7 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 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. Accelerometer Configuration For additional tuning of the WoM responsiveness, the precise configuration of the accelerometer is left to the (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 42 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 8 Wake On Motion (WoM) Wake on Motion Control Registers 8.6 The WoM configuration is controlled by values written to the CAL1_x registers, as shown in Table 35. Figure 11. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 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. WoM Example Diagram www.fairchildsemi.com 43 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 8.5 9.1 Accelerometer Self Test 9.2 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 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. www.fairchildsemi.com 44 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 9 Performing Device Self Test 10.1 Magnetometer Description 10.2 Magnetometer Calibration 2 The FIS1100 provides an I C 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 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) 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. 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 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Scale Setting Sensitivity Unit Scale +8 8192 lsb/unit Offset 16 2048 lsb/unit Skew1 4 8192 lsb/unit Skew2 4 8192 lsb/unit www.fairchildsemi.com 45 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 10 Magnetometer Setup FIS1100 Host Serial Interface supports I2C and SPI slave interfaces. For SPI, it supports both 3-wire and 4wire 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). 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 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 bidirectional 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. 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 12 shows the SPI address and data formats. SPI Features SPI Address and Data Form 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 Figure 13. Typical SPI 4-Wire Multi-Slave (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Figure 14. Typical SPI 3-Wire Multi-Slave www.fairchildsemi.com 46 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 11 Host Serial Interface 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 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 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. Figure 16. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 SPI 4-Wire Single Byte Read and Write SPI 4-Wire Multi-Byte Read and Write Transactions www.fairchildsemi.com 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. FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor CS SPC SDIO Read inc A5 A4 A3 A2 A1 A0 D7 SPI 3-wire Single Byte Read and Write Figure 17. Figure 18. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 D6 D5 D4 Single Read Burst Read Single Write Burst Write D3 READ 1 1 0 0 D2 D1 D0 INC 0 1 0 1 SPI 3-Wire Single Byte Read and Write Transactions SPI 3-Wire Multi-Byte Read and Write Transactions www.fairchildsemi.com 48 The typical operating conditions for the SPI interface are provided in Table 37 VDDd = 1.8 V, T = 25C unless otherwise noted. Table 37. SPI Interface Timing Characteristics Symbol Parameter Min. Max. Unit 10 MHz tSPC SPI Clock Cycle fSPC SPI Clock Frequency 100 ns 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 thSDO SDO Hold Time for Output tdSDO SDO Disable Time for Output tsSDIO SDIO Address Setup Time 5 ns thSDIO SDIO Address Hold Time 15 ns 50 9 ns ns 50 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. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 Timing Characteristics for SPI 3- and 4-Wire Interfaces www.fairchildsemi.com 49 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 11.1.1 SPI Timing Characteristics 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. 2 Table 38 provides the I C interface timing characteristics 2 while Figure 20 and Figure 21 illustrate the I C timing for both fast and standard modes, respectively. 2 For additional technical details about the I C standard, such as pull-up resistor sizing the user is referred to 2 "UM10204 I C-bus specification and user manual" published by NXP B.V. 2 During the slave device selection phase, the I C master 2 supplies the 7-bit I C 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). Table 38. I2C Timing Characteristics Symbol Parameter fSCL SCL Clock Frequency tBUF Bus-Free Time between STOP and START Conditions tHD;STA START or Repeated START Hold Time tLOW SCL LOW Period tHIGH SCL HIGH Period tSU;STA Repeated START Setup Time tSU;DAT Data Setup Time tHD;DAT Data Hold Time tRCL, tR SCL Rise Time tFCL SCL Fall Time tRDA, tRCL1 tFDA tSU;STO SDA Rise Time. Rise Time of SCL after a Repeated START Condition and after ACK Bit SDA Fall Time Stop Condition Setup Time Conditions Min. Typ. Max. Standard Mode 100 Fast Mode 400 Standard Mode 4700 Fast Mode 1300 Standard Mode 4000 Fast Mode 600 Standard Mode 4700 Fast Mode 1300 Standard Mode 4000 Fast Mode 600 Standard Mode 4700 Fast Mode 600 Standard Mode 250 Fast Mode 100 ns ns ns ns ns 0 3450 Fast Mode 0 900 Fast Mode 1000 20 + 0.1 * (16) CB Standard Mode Fast Mode Standard Mode Fast Mode 300 ns ns ns 1000 20 + 0.1 * (16) CB 20 + 0.1 * (16) CB Standard Mode Fast Mode 300 300 (16) 20 + 0.1 * CB kHz ns Standard Mode Standard Mode Unit 300 300 Standard Mode 4000 Fast Mode 600 300 ns ns ns Note: 16. CB is the bus capacitance. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 50 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 11.2 I2C Interface Figure 21. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor Figure 20. 2 I C Standard Mode Interface Timing 2 I C Fast Mode Interface Timing www.fairchildsemi.com 51 12.1 Package Drawing (2.18) Do not solder center tab 3.30 0.10 C 16 A 2X 13 B 12 1 (1.50) 3.40 PIN#1 IDENT (0.25) 4 3.30 9 0.61(16X) 5 0.50 0.32(16x) 0.10 C TOP VIEW 8 2X RECOMMENDED LAND PATTERN DETAIL A 1.00 MAX. 0.10 C (0.10) 0.95 0.08 C C 0.05 SEATING PLANE INSULATION METALLIZED PAD SIDE VIEW DETAIL A NOTES: 0.15(4X) 0.05 5 6 7 8 0.55 0.45 4 1.50 9 3 10 2 11 0.55 1 0.45 PIN #1 IDENT 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. 1.50 16 15 12 14 0.45 13 0.35(16X) 0.35(16X) 0.50 0.25 0.10 0.08 0.10 0.08 C A B C C A B C BOTTOM VIEW Figure 22. (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 16 Pin LGA 3.3 x 3.3 x 1 mm Package www.fairchildsemi.com 52 FIS1100 -- 6D Inertial Measurement Unit with Motion Co-Processor 12 Package and Handling 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 30C 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 (c) 2015 Fairchild Semiconductor Corporation FIS1100 * Rev. 1.2 www.fairchildsemi.com 53 (2.18) Do not solder center tab 3.30 0.10 C 16 A 2X 13 B 12 1 (1.50) 3.40 PIN#1 IDENT (0.25) 4 3.30 9 0.61(16X) 5 0.50 0.32(16x) 0.10 C TOP VIEW 8 2X RECOMMENDED LAND PATTERN DETAIL A 0.10 C (0.10) 1.00 MAX. 0.95 0.08 C C SEATING PLANE INSULATION METALLIZED PAD SIDE VIEW 0.05 DETAIL A NOTES: 5 6 7 4 1.50 8 9 0.55 0.45 3 10 0.55 0.45 2 11 0.45(16X) 0.35 12 1 PIN #1 IDENT 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. 1.50 0.15(4X) 0.05 0.10 0.08 16 15 0.50 14 13 0.35(16X) 0.25 0.10 0.08 BOTTOM VIEW C A B C C A B C ON Semiconductor and are trademarks of Semiconductor Components Industries, LLC dba ON Semiconductor or its subsidiaries in the United States and/or other countries. ON Semiconductor owns the rights to a number of patents, trademarks, copyrights, trade secrets, and other intellectual property. A listing of ON Semiconductor's product/patent coverage may be accessed at www.onsemi.com/site/pdf/Patent-Marking.pdf. ON Semiconductor reserves the right to make changes without further notice to any products herein. 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