FIS1100 データシートの表示（PDF） - Fairchild Semiconductor

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FIS1100

6D Inertial Measurement Unit with Motion Co-Processor and Sensor Fusion Library

Fairchild Semiconductor 

Table of Contents

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

© 2015 Fairchild Semiconductor Corporation

FIS1100 • Rev. 1.2

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