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July 2016
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
FIS1100
6D Inertial Measurement Unit with Motion Co-
Processor and Sensor Fusion Library
Features
World‟s First Complete Consumer Inertial
Measurement Unit (IMU) with Sensor Fusion
Library to Specify Orientation Accuracy: ±3º Pitch
and Roll, ±5º Yaw/Heading
3-Axis Gyroscope and 3-Axis Accelerometer in a
Small 3.3 x 3.3 x 1 mm LGA Package
Integrated AttitudeEngineTM Motion Co-processor
with Vector DSP Performs Sensor Fusion at 1 kHz
Sampling Rate, while Outputting Data to Host
Processor at a Lower Rate – Improving Accuracy
while Reducing Processor MIPS, Power, and
Interrupt Requirements
High-Performance XKF3 6/9-Axis Sensor Fusion
with in-Run Calibration for Correction of Gyro Bias
Drift Over Temperature and Lifetime
Low Latency, Wide Bandwidth, Low Noise OIS
Mode for Camera and Drone Gimbal Stabilization
Low Noise 50 g/√Hz Accelerometer and
10 mdps/√Hz Gyroscope
New Motion on Demand Technology for Polling
Based Synchronization
Large 1536 Byte FIFO can be used to Buffer 9DOF
Sensor Data to Lower System Power Dissipation
Large Dynamic Range from ±32°/s to ±2,560°/s
and ±2 g to ±8 g
Low Power and Warm-Start Modes for Effective
Power Management
Digitally Programmable Sampling Rate and Filters
Host Serial Interface Supporting I2C or SPI
I2C Master for Interfacing External Magnetometer
Embedded Temperature Sensor
Wide Extended Operating Temperature Range
(-40°C to 85°C)
Description
FIS1100 is the world‟s first complete consumer 6D
MEMS Inertial Measurement Unit (IMU) with sensor
fusion to specify system level orientation accuracy.
When using the FIS1100 in combination with the
supplied XKF3 9D sensor fusion, the system features an
accurate ±3° pitch and roll orientation, and a ±5°
yaw/heading typical specification.
The FIS1100 incorporates a 3-axis Gyroscope and a 3-
axis Accelerometer and can connect an external 3-axis
magnetometer through an I2C master thus forming a
complete 9DOF system.
The FIS1100 also incorporates an advanced vector
Digital Signal Processor (DSP) motion co-processor
called the AttitudeEngine™. The AttitudeEngine
efficiently encodes high frequency motion at high
internal sampling rates, preserving full accuracy across
any output data rate.
This enables the application to utilize low Output Data
Rates (ODR) or on-demand (host polling) and still
acquire accurate 3D motion data. The AttitudeEngine
allows reducing the data processing and interrupt load
on a host processor with no compromises in 3D motion
tracking accuracy. The result is very low total system
power in combination with high accuracy, which are
essential to many portable and battery powered
applications.
Applications
Drone Flight Control and Gimbal Stabilization
Optical Image Stabilization (OIS) and Electrical
Image Stabilization (EIS)
Virtual Reality and Augmented Reality
Robotic Orientation and Position Tracking
Sport & Fitness Wearables
Pedestrian Navigation and GNSS Augmentation
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 2
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table of Contents
1 General Information ...................................................................................................... 4
1.1 Ordering Information .........................................................................................................4
1.2 Marking Information ..........................................................................................................4
1.3 Internal Block Diagram .......................................................................................................4
1.4 Application Diagram ..........................................................................................................5
1.5 Package & Pin Information .................................................................................................6
1.6 Recommended External Components .................................................................................7
2 FIS1100 Architecture ...................................................................................................... 8
2.1 AttitudeEngine Mode Overview .........................................................................................8
2.2 Advantages of the Attitude Engine Approach ......................................................................8
2.3 9D Sensor Fusion and Auto-Calibration using XKF3 .............................................................9
2.4 Frames of Reference and Conventions for Using FIS1100 ................................................... 10
3 System, Electrical and Electro-Mechanical Characteristics ............................................. 11
3.1 Absolute Maximum Ratings ............................................................................................. 11
3.2 Recommended Operating Conditions ............................................................................... 11
3.3 System Level Specifications .............................................................................................. 12
3.4 Electro-Mechanical Specifications..................................................................................... 12
3.5 Accelerometer Programmable Characteristics ................................................................... 14
3.6 Gyroscope Programmable Characteristics ......................................................................... 15
3.7 Electrical Characteristics ................................................................................................... 16
3.7.1 Current Consumption ............................................................................................................ 16
3.8 Temperature Sensor ........................................................................................................ 17
4 Register Map Overview ................................................................................................ 18
5 Sensor Configuration Settings and Output Data ............................................................ 20
5.1 Typical Sensor Mode Configuration and Output Data ........................................................ 20
5.2 AttitudeEngine Mode Configuration and Output Data ....................................................... 21
5.3 General Purpose Register ................................................................................................. 21
5.4 Configuration Registers .................................................................................................... 22
5.5 Status and Count Registers ............................................................................................... 26
5.6 Sensor Data Output Registers ........................................................................................... 27
5.7 CTRL 9 Functionality (Executing Pre-defined Commands) .................................................. 30
5.7.1 CTRL 9 Description ................................................................................................................ 30
5.7.2 WCtrl9 (Write – CTRL9 Protocol) ........................................................................................... 30
5.7.3 Ctrl9R (CTRL9 Protocol - Read) .............................................................................................. 31
5.7.4 Ctrl9 (CTRL9 Protocol Acknowledge) .................................................................................... 31
5.7.5 CTRL9 Commands in Detail ................................................................................................... 32
5.8 Interrupts ........................................................................................................................ 34
5.8.1 Interrupt 1 (INT1) .................................................................................................................. 34
5.8.2 Interrupt 2 (INT2) .................................................................................................................. 34
6 Operating Modes ......................................................................................................... 35
6.1 General Mode Transitioning ............................................................................................. 38
6.2 Transition Times .............................................................................................................. 38
7 FIFO Description ........................................................................................................... 39
7.1 Using the FIFO ................................................................................................................. 39
7.2 FIFO Register Description ................................................................................................. 40
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 3
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
8 Wake On Motion (WoM) .............................................................................................. 42
8.1 Wake on Motion Introduction .......................................................................................... 42
8.2 Accelerometer Configuration ........................................................................................... 42
8.3 Wake on Motion Event .................................................................................................... 42
8.4 Configuration Procedure .................................................................................................. 42
8.5 Wake on Motion Control Registers ................................................................................... 43
8.6 Exiting Wake on Motion Mode ......................................................................................... 43
9 Performing Device Self Test .......................................................................................... 44
9.1 Accelerometer Self Test ................................................................................................... 44
9.2 Gyroscope Self Test .......................................................................................................... 44
10 Magnetometer Setup ................................................................................................... 45
10.1 Magnetometer Description .............................................................................................. 45
10.2 Magnetometer Calibration ............................................................................................... 45
11 Host Serial Interface ..................................................................................................... 46
11.1 Serial Peripheral Interface (SPI) ........................................................................................ 46
11.1.1 SPI Timing Characteristics ................................................................................................. 49
11.2 I2C Interface ..................................................................................................................... 50
12 Package and Handling .................................................................................................. 52
12.1 Package Drawing ............................................................................................................. 52
12.2 Reflow Specification......................................................................................................... 53
12.3 Storage Specifications ...................................................................................................... 53
13 Related Resources ........................................................................................................ 53
14 Document Information ................................................................................................. 54
14.1 Revision History ............................................................................................................... 54
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 4
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
1 General Information
1.1 Ordering Information
Table 1. Ordering Information
Part Number
Package
Packing Method
FIS1100
LGA16
Tape & Reel
1.2 Marking Information
Figure 1. Top Mark
1.3 Internal Block Diagram
Figure 2. Internal Block Diagram
ZXYKK
FIS1100
Pin 1 Identifier
Device Name
Lot Code
Week
Code
Assembly
Plant Code Year
Code
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 5
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
1.4 Application Diagram
Figure 3. Typical Application Diagram (Showing Magnetometer Connected through FIS1100
Master I2C and a SPI 4 Wire Interface Connected to the Host Processor)
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 6
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
1.5 Package & Pin Information
Figure 4. Pins Face Down (Top View)
Do Not Solder Center Pin (NC)
Figure 5. Pins Face Up (Bottom View)
Do Not Solder Center Pin (NC)
Table 2. Pin Definitions
Pin #
Name
Alternate Name
Alternate Name
Description
1
RESV3
Reserved. Connect to Board Ground (GND)
2
VDDa
Power Supply for Analog
3
GNDa
Ground for Analog
4
RESV2
Reserved. No Connection (NC)
5
RESV1
Reserved. No Connection (NC)
6
SDA2
Master I2C Serial Data
7
SCL2
Master I2CSerial Clock
8
VDDd
Power Supply for Digital and IO Pins
9
SA0(1)(3)
SDO
Host I2C Slave Address LSB (SA0);
Host 4-Wire SPI Serial Data Output (SDO)
10(1)
CS
Host SPI Chip Select (1 = I2C Mode). See SPI
Mode Configuration section
11
INT2
DRDY
Interrupt2. Data Ready/FIFO Interrupt
12
INT1
CLKout
Interrupt1. General Purpose Interrupt. Clock out in
OIS Mode
13
SDA
SDI(2)(3)
SDIO(2)(3)
Host I2C Serial Data (SDA);
Host 4-Wire SPI Serial Data Input (SDI);
Host 3-Wire SPI Serial Data Output (SDIO)
14
SCL
SPC(2)(3)
Host I2C Serial Clock (SCL);
Host SPI Serial Clock (SPC)
15
GNDd
Ground
16
RST ***
Reset Input. Assert for at least 5 s. Part ready for
communication 50 s after assertion. After RST,
the device will go through its boot process, please
refer to Table 7 and Table 8 for wakeup times.
Notes:
1. This pin has an internal 200 K pull up resistor.
2. In SPI mode (not in I2C Mode), there is an internal pull down 200 K resistor.
3. Refer to Section 1 for detailed configuration information.
NC
FIS1100
Bottom View
13 8 VDDdSDA/SDI/SDO
14 7 SCL2SCL/SPC
15 6 SDA2GNDd
16 5 RESV1RST
12 1 RESV3INT1/CLKout
11 2 VDDaINT2/DRDY
10 3 GNDaCS
9 4 RESV2SA0/SDO
NC
FIS1100
Top Through View
13 8 VDDdSDA/SDI/SDO
14 7 SCL2SCL/SPC
15 6 SDA2GNDd
16 5 RESV1RST
121RESV3 INT1/CLKout
112VDDa INT2/DRDY
103GNDa CS
94RESV2 SA0/SDO
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 7
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
1.6 Recommended External Components
Table 3. Recommended External Components
Component
Description
Parameter
Typical
Cp1
Capacitor
Capacitance
100 nF
Cp2
Capacitor
Capacitance
100 nF
Rpu(4)
Resistor
Resistance
10 K
Note:
4. Rpu is only needed when the Host Serial Interface is configured for I2C. They are not needed when the Host
Serial Interface is configured for SPI. See I2C Interface section. If Pull-up resistors are used on SCL and SDA,
then both SPI and I2C Modes are possible. If a Pull-up is used on SA0, an alternate slave address is used for
I2C. SPI Mode will be unaltered with the use of Pull-ups for I2C.
Figure 6. Typical Electrical Connections
4 1
16 13
12 9
8 5
NC
NC
(RESV2)
GND
VDDa
GND
(RESV3)
SA0
CS
INT2
INT1
NC
(RESV1)
SDA2
SCL2
VDDd
RST
GND
SCL
SDA
GND
Cp2
VDDa
VDD I2C Bus
Rpu Rpu
SCL/SPC
SDA/SDI/SDO
Pull-ups should be added when I2C interface is used.
GND
Cp1
VDDd
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 8
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
2 FIS1100 Architecture
FIS1100 is a smart sensor that combines a high-
performance IMU with a powerful Single Instruction
Multiple Data (SIMD) based Vector DSP motion co-
processor referred to as the AttitudeEngine™ (AE).
Included sensor fusion software (XKF3) allows the
device to achieve orientation accuracies of ±3º for pitch
and roll and ±5º for yaw/heading.
The FIS1100 includes a microcontroller for data
scheduling, combined with Direct Memory Access
(DMA) in order to allow efficient data shuttling on the
chip. Multi-channel data is easily processed at rates up
to 1 kHz with minimal latency in normal operation (non-
OIS modes) and at 8 kHz in OIS modes.
An internal block diagram is shown in Figure 2. The
MEMS elements are amplified and converted by  A/D
converters which are synchronized to a common clock
so that all the motion measurements of acceleration,
angular rate and magnetic heading are sampled at the
same time minimizing any skew between channels. The
data is then sent to a signal processing chain that
accomplishes decimation, filtering and calibration.
Once the data has been processed, it can be sent to the
host processor depending on additional configuration
settings, such as, enabling the FIFO or using the
AttitudeEngine.
2.1 AttitudeEngine Mode Overview
Brief descriptions of the major functions of the
AttitudeEngine are discussed below, for more detail see
Application note AN-5083. Note that the AttitudeEngine
may be enabled or disabled and configured using the
CTRL6 register.
Calibration: FIS1100 applies continuous on-chip
calibration of all the sensors (accelerometer,
gyroscope, and magnetometer) including scale,
offset, and temperature calibration. When used in
conjunction with a sensor fusion filter (such as the
Fairchild XKF3) running on the host processor,
estimated sensor errors can be updated in-use,
allowing sensor calibration to be performed in the
background without any host intervention. This
offloads computationally expensive per-sample re-
calibration from the host processor to the FIS1100.
Sample Synchronization: FIS1100 automatically
provides highly synchronous output between the
various IMU accelerometer and gyroscope
channels through the use of fully parallel ΣΔ-
converters. The FIS1100 also provides time
synchronization of data between the IMU and the
external magnetometer.
Motion Encoder: Performs 32-bit high-speed dead
reckoning calculations at 1 kHz data rates allowing
accurate capture of high frequency and coning
effects. Orientation and velocity increments are
calculated with full coning and sculling
compensation and the magnetic field vector from
the external magnetometer is rotated to the sensor
frame of reference. This allows the lossless
encoding (compression) of 6D motion to a low
output data rate, while maintaining the accuracy
provided by the 1 kHz input and data processing
rate. Motion data encoded by the AttitudeEngine is
available at a user programmable data rate (1 Hz to
64 Hz). The orientation and velocity increments
from the AttitudeEngine are suitable for any 3D
motion tracking application (orientation, velocity and
position) and may be further fused by the user with
information from other sources such as a GNSS
receiver or barometer in an optimal estimator.
Motion on Demand (MoD): FIS1100 allows the
host to access encoded motion data
asynchronously (polling) and on demand. The
motion data in the AttitudeEngine (AE) mode
remains accurate even at very low output data
rates. This allows easy integration and
synchronization with other sensors for state-of-the-
art applications such as rolling shutter camera
stabilization, optical sensors software de-blurring,
GNSS integration and augmented or virtual reality.
2.2 Advantages of the Attitude
Engine Approach
The advantages of the AttitudeEngine (AE) approach
over the traditional sensor approach are many and are
briefly discussed below, for more detail see Application
note AN-5083.
Low-Power Architecture: Dead reckoning
calculations are performed with the AE vector DSP
which is designed to perform essential calculations
while achieving high-accuracy and low power
simultaneously. The AE approach enables a typical
interrupt rate reduction to the host processor of 10x
and can be up to 100x for some applications. This
significantly enhances the operational life of battery
powered devices without any compromises in 3D
motion tracking accuracy.
High Performance: The motion encoder and
sample synchronizer enable highly accurate strap
down integration that can be fully compensated for
coning and sculling artifacts.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 9
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
2.3 9D Sensor Fusion and Auto-
Calibration using XKF3
XKF3 is a sensor fusion algorithm, based on Extended
Kalman Filter theory that fuses 3D inertial sensor data
(orientation and velocity increments) and 3D
magnetometer, also known as „9D‟, data to optimally
estimate 3D orientation with respect to an Earth fixed
frame.
A license to use XKF3 in a CMSIS compliant library
form for Cortex M0+, M3, M4, M4F, for commercial
purposes is provided with the FIS1100 Evaluation Kit
(FEBFIS1100MEMS_IMU6D3X).
A restricted-use license for use of XKF3 for commercial
purposes is also granted for certain applications when
XKF3 is used with the FIS1100.
XKF3 is developed by Xsens™, a pioneering company
in inertial based 3D motion tracking. The first generation
9D sensor fusion algorithms were developed by Xsens
more than 15 years ago and have been proven in
demanding 24/7 continuous use for a broad range of
applications; from unmanned underwater robotics to
accurate joint angle measurements for rehabilitation and
sports. The XKF3 algorithm is wholly owned by
Fairchild.
XKF3 only works with the FIS1100 and supported
magnetometers. Refer to the FEBFIS1100 Evaluation
Board document for further details.
For additional information, refer to AN-5084 application
note for more details on XKF3 and its benefits
XKF3 Features:
Continuous Sensor Auto Calibration, No User
Interaction Required
High Accuracy, Real-Time, Low-Latency Optimal
estimate of 3D Orientation, up to 1 kHz output data
rate
Ultra low system power for 3D Orientation enabled
by AttitudeEngine, between 8 to 64 Hz output data
rate without any degradation in accuracy
Best-in-Class Immunity to Magnetic Distortions
Best-in-Class Immunity to Transient Accelerations
Flexible use Scenarios, North Referenced,
Unreferenced
Extensive Status Reporting for Smooth Integration in
Applications
Optimized Library for Popular Microcontrollers
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 10
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Figure 7. Chip Orientation Coordinate System
2.4 Frames of Reference and
Conventions for Using FIS1100
FIS1100 uses a right-handed coordinate system as the
basis for the sensor frame of reference. Acceleration
(ax,ay,az) are given with respect to the X-Y-Z co-
ordinate system shown above. Increasing accelerations
along the positive X-Y-Z axis are considered positive.
Angular Rate (x, y, z) around the counter clockwise
direction are considered positive. Magnetic fields (mx,
my, mz) can be configured to be expressed in the sensor
X-Y-Z coordinates as well. Care must be taken to make
sure that FIS1100 and the magnetic sensor of choice
are mounted on the board so that the coordinate
systems of the two sensors are substantially orthogonal.
Figure 7 shows the various frames of reference and
conventions for using FIS1100.
The accelerometer, gyroscope, and the optional
external magnetometer are enabled or disabled using
the aEN, gEN and mEN bits in the CTRL7 register
respectively. AE Mode may be enabled or disabled
using the sEN bit in CTRL7 register. The outputs
available in Typical Sensor Mode and AttitudeEngine™
Modes are outlined below in Table 22 and Table 23. A
list and description of FIS1100 Operational Modes is
provided in Table 32. A FIFO buffer is also available to
store sample history. The FIFO may be configured
separately using FIFO_CTRL, FIFO_STATUS and
FIFO_DATA. The FIFO control is described in detail in
the FIFO Description section.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 11
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
3 System, Electrical and Electro-Mechanical Characteristics
3.1 Absolute Maximum Ratings
Stresses exceeding the absolute maximum ratings may damage the device. The device may not function or be
operable above the recommended operating conditions. Stressing the parts to these levels is not recommended. In
addition, extended exposure to stresses above the recommended operating conditions may affect device reliability.
The absolute maximum ratings are stress ratings only.
Table 4. Absolute Maximum Ratings
Symbol
Parameter
Min.
Max.
Unit
TSTG
Storage Temperature
-40
+125
°C
TPmax
Lead Soldering Temperature, 10 Seconds
+260
°C
VDDa
Supply Voltage
-0.3
3.6
V
VDDd
I/O Pins Supply Voltage
-0.3
2.05
V
Sg(5)
Acceleration g for 0.2 ms (Un-powered)
10,000
g
ESD(6)
Electrostatic Discharge
Protection Level
Human Body Model per JES001-2014
±2000
V
Charged Device Model per JESD22-C101
±500
Notes:
5. This is a mechanical shock (g) sensitive device. Proper handling is required to prevent damage to the part.
6. This is an ESD-sensitive device. Proper handling is required to prevent damage to the part.
3.2 Recommended Operating Conditions
The Recommended Operating Conditions table defines the conditions for actual device operation. Recommended
operating conditions are specified to ensure optimal performance. Fairchild does not recommend exceeding them or
designing to Absolute Maximum Ratings.
Table 5. Recommended Operating Conditions
Symbol
Parameter
Min.
Typ.
Max.
Unit
VDDa
Supply Voltage
2.4
2.7
3.47
V
VDDd
I/O Pins Supply Voltage
1.62
1.80
1.98
V
VIL
Digital Low Level Input Voltage
0.3 *VDDd
V
VIH
Digital High Level Input Voltage
0.7 *VDDd
V
VOL
Digital Low Level Output Voltage
0.1 *VDDd
V
VOH
Digital High Level Output Voltage
0.9 *VDDd
V
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 12
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
3.3 System Level Specifications
System level specifications are provided to give
guidance on the system performance in a
recommended and typical configuration. The
recommended system configuration is the FIS1100 and
optionally a supported 3D magnetometer used with a
supported host processor, running the Fairchild XKF3
9D sensor fusion and having executed and stored the
result of the “Board Level Calibration” routine (see AN-
5085 application note). The system performance
specifications assume that good engineering practices
for the placement conditions of the FIS1100 and 3D
magnetometer are taken into account. For example,
take care not to place the FIS1100 where strong
vibrations may occur or even be amplified; take care not
to place the 3D magnetometer where magnetic fields
other than the Earth magnetic field may be measured.
Typical numbers are provided below unless otherwise
noted.
Table 6. System Level 3D Orientation Accuracy Specifications
Subsystem
Parameter
Typical
Unit
Comments
FIS1100+XKF3
quaternion
Roll
±3
deg
Requires use of XKF3 software library on
host processor.
Pitch
±3
deg
Requires use of XKF3 software library on
host processor.
Yaw (Heading)
Referenced to North
±5
deg
Requires use of XKF3 software library on
host processor, using magnetometer, in a
homogenous Earth magnetic field.
Yaw (Heading)
Unreferenced
5-25
deg/h
From Allan Variance bias instability.
Does not require a magnetometer.
(See specification above for use with
magnetometer.)
Fully immune to magnetic distortions.
FIS1100+XKF3
quaternion
Output Data Rate
8 - 1000
Hz
To benefit from the power saving using the
AttitudeEngine, use a max ODR of 64 Hz.
3.4 Electro-Mechanical Specifications
VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C unless otherwise noted.
Table 7. Accelerometer Electro-Mechanical Specifications
Subsystem
Parameter
Typical
Unit
Comments
Accelerometer
Noise Density
50
g/√Hz
High-Resolution Mode
Sensitivity Scale Factor
Scale Setting
Sensitivity
LSB/g
16-Bit Output
±2 g
16,384
±4 g
8,192
±8 g
4,096
Cross-Axis Sensitivity
±2
%
Temperature Coefficient of
Offset (TCO)
±1 (X and Y Axis)
mg/°C
Over-Temperature Range of
-40°C to 85°C at Board Level
±2.5 (Z-Axis)
Temperature Coefficient of
Sensitivity (TCS)
±0.01 (X and Y Axis)
%/°C
±0.02 (Z Axis)
Initial Offset Tolerance
±50
mg
Component Level
Initial Sensitivity Tolerance
±1 (X and Y Axis)
%
Board Level
±3 (Z Axis)
Non-Linearity
±1
%
Best Fit Line
System Turn On Time
(VDDd and VDDa within
1% of Final Value)
1.75
s
3.4.1.1.1.1 From Hardware Reset, No
Power, or Power Down to
Power-on Default state. = t0 in
Figure 8
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 13
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 7. Accelerometer Electro-Mechanical Specifications (Continued)
Subsystem
Parameter
Typical
Unit
Comments
Accel Turn On Time
3ms + 3/ODR
ms
3.4.1.1.1.2 Accel Turn on from Power-On
Default state or from Low Power
state. = t2 + t5 in Figure 8.
Table 8. Gyroscope Electro-Mechanical Specifications
Subsystem
Parameter
Typical
Unit
Comments
Gyroscope
Sensitivity
Scale
Setting
Sensitivity
LSB/dps
16-Bit Output
±32 dps
1024
±64 dps
512
±128 dps
256
±256 dps
128
±512 dps
64
±1024 dps
32
±2048 dps
16
±2560 dps
8
Minimum Natural
Frequency
> 19.3
kHz
Noise Density
10
mdps/√Hz
High-Resolution Mode
10
OIS Mode with gLPF=1
13.5
OIS LL Mode, 2 kHz BW
Non-Linearity
< 0.2
%
3.4.1.1.1.3 FSO=2560 dps
Cross-Axis Sensitivity
±2
%
System Turn On Time
(VDDd and VDDa within
1% of Final Value)
1.75
s
From Hardware Reset, No
Power, or Power Down to
Power-on Default state. = t0
in Figure 8
Gyro Turn On Time
60ms + 3/ODR
ms
3.4.1.1.1.4 Gyro Turn on from Power-On
Default = t1 + t5 in Figure 8.
Gyro Warm Start Turn On
Time
5ms + 3/ODR
ms
From Gyro Warm-Start to
Gyro Only or Accel + Gyro
modes. = t4 + t5 in Figure 8.
Temperature Coefficient of
Offset (TCO)
X & Y Axis
±0.1
dps/°C
Over-Temperature Range of
-40°C to 85°C
Z Axis
±0.02
Temperature Coefficient of
Sensitivity (TCS)
X & Y Axis
±0.07
%/°C
Over-Temperature Range of
-40°C to 85°C
Z Axis
±0.02
Initial Offset Tolerance
X & Y Axis
±10
dps
Board Level
Z Axis
±1
Initial Sensitivity Tolerance
X & Y Axis
±3
%
Board Level
Z Axis
±1
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 14
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 9. Magnetometer and AttitudeEngine Range and Scale
Subsystem
Parameter
Typical
Unit
Comments
Scale
Setting
Sensitivity
Typical Sensor
Mode
Magnetometer Sensitivity
Scale Factor
±16 gauss
2,048
LSB/gauss
16 Bit Output
AE Mode
Magnetometer Sensitivity
Scale Factor
±16 gauss
2,048
LSB/gauss
Orientation Increment
(quaternion) Sensitivity
Scale Factor
±1
16,384
LSB/unit
Velocity Increment
Sensitivity Scale Factor
±32
1,024
LSB/ms
3.5 Accelerometer Programmable Characteristics
VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C unless otherwise noted. Typical numbers are provided below unless otherwise
noted. All frequencies are ±5% and are synchronized to the gyro oscillator (“drive”) frequency.
Table 10. Accelerometer Noise Density
Mode
High-Resolution
Low-Power
Unit
ODR
1000
250
125
31.25
125
62.5
25
3
Hz
Typical Noise Density
50
50
50
50
125
180
285
820
g/√Hz
Table 11. Accelerometer Filter Characteristics(7)
Mode
High-Resolution
Low-Power
Unit
ODR
1000
250
125
31.25
125
62.5
25
3
Hz
Bandwidth
500
125
62.5
15.625
62.5
31.25
12.5
1.5
Bandwidth with Low-Pass Filter
Enabled (aLPF=1)
200
50
25
5
25
15
5
0.6
Corner Frequency(fc) with High-
Pass Filter Enabled (aHPF=1)
2.50
0.60
0.30
0.08
0.30
0.15
0.10
0.013
Note:
7. All frequencies are ±5% and are synchronized to the gyro oscillator (“drive”) frequency.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 15
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
3.6 Gyroscope Programmable Characteristics
VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C, and represent typical numbers unless otherwise noted. All frequencies are ±5%
and are synchronized to the gyro oscillator (“drive”) frequency.
Table 12. Gyroscope Filter Characteristics
Mode
High-Resolution
Snooze
Warm-Start
OIS
OIS LL
Unit
ODR
gHPF=0
1000
250
125
31.25
Snooze
8100
8100
Hz
Bandwidth
gLPF=0
500
125
62.5
15.625
N/A
4050
2000
gLPF=1
200
50
25
6
N/A
345
N/A(8)
Corner Frequency (fc)
with High-Pass Filter
Enabled (gHPF=1)
gHPF01=0
2.5
0.625
0.3125
0.08
N/A
0.1
N/A(8)
gHPF01=1
0.1
0.025
0.0125
0.0032
N/A
0.1
N/A(8)
Note:
8. For OIS LL mode, no filters can be enabled. gLPF=0 and gHPF=0 should be maintained.
Table 13. Optical Image Stabilization (OIS) Group Delay
Group Delay
At Frequency (Hz)
Filter Bandwidth (Hz)
Typical
Unit
10
4050
0.11
ms
2000 (OIS LL)
0.5
345
1.1
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 16
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
3.7 Electrical Characteristics
VDDd = 1.8 V; VDDa = 2.7 V; T = 25°C unless otherwise noted.
Table 14. Electrical Subsystem Characteristics
Symbol
Parameter
Min.
Typ.
Max.
Unit
fSPC
Host SPI Interface Speed
10
MHz
fSCL
Host I2C Interface Speed
Standard Mode
100
kHz
Fast Mode
400
fSCL2
Master I2C Interface Speed(9)
Standard Mode
25
kHz
Fast Mode
300
Note:
9. When only accelerometer is enabled, I2C master operates at 25 kHz. When gyroscope is enabled, I2C master
operates at 300 kHz.
3.7.1 Current Consumption
VDDd = 1.8 V, VDDa = 2.7 V, T = 25°C unless otherwise noted. Typical numbers are provided below.
Table 15. Current Consumption for Accelerometer Only Typical Sensor Mode (Gyroscope
Disabled)
Mode
High-Resolution
Low-Power
Unit
ODR
1000
250
125
31.25
125
62.5
25
3
Hz
Typical Analog Current IDDa(10)
220
220
220
220
35
35
20
7
A
Typical Digital
Current IDDd (11)
Filters Disabled
(aLPF=0; aHPF=0)
100
70
65
60
20
15
10
8
Filters Enabled
(aLPF=1; aHPF=1)
108
71
66
61
21
16
10
8
Table 16. Current Consumption for Gyroscope Only Typical Sensor Mode (Accelerometer
Disabled)
Mode
High-Resolution
Snooze
Warm-Start
OIS, OIS
LL(8)
Unit
ODR
1000
250
125
31.25
Snooze
8100
Hz
Typical Analog Current IDDa(10)
2540
2540
2540
2540
1240
2540
A
Typical Digital
Current IDDd (11)
Filters Disabled
(gLPF=0; gHPF=0;
gHPF01=0)
740
710
705
700
570
1100
Filters Enabled (gLPF=1;
gHPF=1; gHPF01=0)
740
710
705
700
570
1100
Notes:
10. IDDa is the current drawn from the analog supply VDDa.
11. IDDd is the current drawn from the digital supply VDDd.
Table 17. Current Consumption for 6DOF Typical Sensor Mode (Accelerometer and Gyroscope
Enabled)
Mode
High-Resolution
Unit
ODR
1000
250
125
31.25
Hz
Typical Analog Current IDDa
2750
2750
2750
2750
A
Typical Digital
Current IDDd
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
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 17
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 18. Current Consumption for 6DOF Attitude Engine Mode (without Magnetometer)
Mode
Unit
ODR Setting
1
2
4
8
16
32
64
Hz
Typical Analog Current IDDa
2750
2750
2750
2750
2750
2750
2750
A
Typical Digital
Current IDDd
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
Table 19. Current Consumption for 9DOF Attitude Engine Mode (with Magnetometer)
Mode
Unit
ODR
1
2
4
8
16
32
Hz
Typical Analog Current IDDa
2750
2750
2750
2750
2750
2750
A
Typical Digital
Current IDDd
With Magnetometer
at 32 Hz
990
990
990
990
990
990
3.8 Temperature Sensor
The FIS1100 is equipped with an internal 12-bit
embedded temperature sensor that is automatically
turned on by default whenever the accelerometer or
gyroscope is enabled. The temperature sensor is used
internally to correct the temperature dependency of
calibration parameters of the accelerometer and
gyroscope. The temperature compensation is optimal in
the range of -40°C to 85°C with a resolution of 0.0625°C
(1/16) or inversely, 16 LSB/ °C.
The FIS1100 outputs the internal chip temperature that
the HOST can read. This external output is truncated to
an 8-bit resolution so that the HOST sees 1°C per LSB
resolution. This is not representative of the accuracy
used internally to model and compensate for
temperature effects on calibration parameters. To read
the temperature, the HOST needs to access the TEMP
register (see Data Output Registers in Table 21. The
HOST should synchronize to the interrupt, INT2, signal
to get valid temperature readings.
Table 20. Temperature Sensor Specifications
Subsystem
Parameter
Typical
Unit
Digital Temperature Sensor
Range
-40 to +85
°C
Internal Resolution
12
Bits
Internal Sensitivity
16
LSB/°C
Output Register Width
8
Bits
Output Sensitivity
1
LSB/°C
Refresh Rate
10
Hz
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 18
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
4 Register Map Overview
The FIS1100 has various registers that enable
programming and control of the inertial measurement
unit and associated on-chip signal processing. The
register map may be classified into the following
register categories:
General Purpose Registers
Setup and Control Registers: Controls various
aspects of the IMU.
Host Controlled Calibration Registers: Controls
and Configures various aspects of the IMU via
Host Command interface called CTRL9
Count Register for time stamping the sensor
samples
FIFO Registers: To setup the FIFO and detect
data availability and over-run.
Data Output Registers: Contains all data for 9D
sensors.
FIS1100 registers are divided into two banks of 64
registers with the second register bank reserved for
future use. Both register banks may be accessed from
I2C or SPI. A detailed description of each register
including the register settings necessary to configure
the FIS1100 operational modes is provided in Section
5.
Table 21. Register Overview
Name
Type
Register Address
Default
Comment
Dec
Hex
Binary
General Purpose Registers
WHO_AM_I
r
0
00
00000000
11111100
Device Identifier
Setup and Control Registers
CTRL1
rw
2
02
00000010
00000000
SPI Interface and Sensor Enable (for clock and power
management)
CTRL2
rw
3
03
00000011
00000000
Accelerometer: Output Data Rate, Full Scale, Self Test
CTRL3
rw
4
04
00000100
00000000
Gyroscope: Output Data Rate, Full Scale, Self Test
CTRL4
rw
5
05
00000101
00000000
Magnetometer Settings: Output Data Rate, and Device
Selection
CTRL5
rw
6
06
00000110
00000000
Data Processing Settings
CTRL6
rw
7
07
00000111
00000000
AttitudeEngine™ Settings: Output Data Rate, Motion on
Demand
CTRL7
rw
8
08
00001000
00000000
Enable Sensors, syncSmpl
CTRL8
rw
9
09
00001001
00000000
Reserved: Not Used
CTRL9
rw
10
0A
00001010
00000000
Host commands
Host Controlled Calibration Registers (See CTRL9, Usage is Optional)
CAL1_L
rw
11
0B
00001011
00000000
Calibration Register
CAL1_L – lower 8 bits. CAL1_H – upper 8 bits.
CAL1_H
rw
12
0C
00001100
00000000
CAL2_L
rw
13
0D
00001101
00000000
Calibration Register
CAL2_L – lower 8 bits. CAL2_H – upper 8 bits.
CAL2_H
rw
14
0E
00001110
00000000
CAL3_L
rw
15
0F
00001111
00000000
Calibration Register
CAL3_L – lower 8 bits. CAL3_H – upper 8 bits.
CAL3_H
rw
16
10
00010000
00000000
CAL4_L
rw
17
11
00010001
00000000
Calibration Register
CAL4_L – lower 8 bits. CAL4_H – upper 8 bits.
CAL4_H
rw
18
12
00010010
00000000
FIFO Registers
FIFO_CTRL
rw
19
13
00010011
00000000
FIFO Setup
FIFO_DATA
r
20
14
00010100
00000000
FIFO Data
FIFO_STATUS
r
21
15
00010101
00000000
FIFO Status
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 19
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 21. Register Overview (Continued)
Name
Type
Register Address
Default
Comment
Dec
Hex
Binary
Status Registers
STATUS0
r
22
16
00010110
00000000
Output Data Over Run and Data Availability
STATUS1
r
23
17
00010111
00000000
Miscellaneous Status: Wake on Motion, FIFO ready,
CmdDone (CTRL9 protocol bit)
Count Register
CNT_OUT
r
24
18
00011000
00000000
Sample Time Stamp (Count Output)
Data Output Registers (16 bits 2’compliment except self test sensor data, AE-REG1 and AE_REG2)
AX_L
r
25
19
00011001
00000000
X-axis Acceleration
AX_L – lower 8 bits. AX_H – upper 8 bits.
AX_H
r
26
1A
00011010
00000000
AY_L
r
27
1B
00011011
00000000
Y-axis Acceleration
AY_L – lower 8 bits. AY_H – upper 8 bits.
AY_H
r
28
1C
00011100
00000000
AZ_L
r
29
1D
00011101
00000000
Z-axis Acceleration
AZ_L – lower 8 bits. AZ_H – upper 8 bits.
AZ_H
r
30
1E
00011110
00000000
GX_L
r
31
1F
00011111
00000000
X-axis Angular Rate
GX_L – lower 8 bits. GX_H – upper 8 bits.
GX_H
r
32
20
00100000
00000000
GY_L
r
33
21
00100001
00000000
Y-axis Angular Rate
GY_L – lower 8 bits. GY_H – upper 8 bits.
GY_H
r
34
22
00100010
00000000
GZ_L
r
35
23
00100011
00000000
Z-axis Angular Rate
GZ_L – lower 8 bits. GZ_H – upper 8 bits.
GZ_H
r
36
24
00100100
00000000
MX_L
r
37
25
00100101
00000000
X-axis Magnetic Field
MX_L – lower 8 bits. MX_H – upper 8 bits.
MX_H
r
38
26
00100110
00000000
MY_L
r
39
27
00100111
00000000
Y-axis Magnetic Field .
MY_L – lower 8 bits. MY_H – upper 8 bits.
MY_H
r
40
28
00101000
00000000
MZ_L
r
41
29
00101001
00000000
Z-axis Magnetic Field.
MZ_L – lower 8 bits. MZ_H – upper 8 bits.
MZ_H
r
42
2A
00101010
00000000
dQW_L
r
45
2D
00101101
00000000
Quaternion Increment dQW.
dQW_L – lower 8 bits. dQW_H – upper 8 bits.
dQW_H
r
46
2E
00101110
00000000
dQX_L
r
47
2F
00101111
00000000
Quaternion Increment dQX.
dQX_L – lower 8 bits. dQX_H – upper 8 bits.
dQX_H
r
48
30
00110000
00000000
dQY_L
r
49
31
00110001
00000000
Quaternion Increment dQY.
dQY_L – lower 8 bits. dQY_H – upper 8 bits.
dQY_H
r
50
32
00110010
00000000
dQZ_L
r
51
33
00110011
00000000
Quaternion Increment dQZ
dQZ_L – lower 8 bits. dQZ_H – upper 8 bits.
dQZ_H
r
52
34
00110100
00000000
dVX_L
r
53
35
00110101
00000000
Velocity Increment along X-axis, or X-axis Angular Rate for
OIS LL mode, or Self test sensor data
dVX_L – lower 8 bits. dVX_H – upper 8 bits.
dVX_H
r
54
36
00110110
00000000
dVY_L
r
55
37
00110111
00000000
Velocity Increment along Y-axis, or Y-axis Angular Rate for
OIS LL mode, or Self test sensor data
dVY_L – lower 8 bits. dVY_H – upper 8 bits.
dVY_H
r
56
38
00111000
00000000
dVZ_L
r
57
39
00111001
00000000
Velocity Increment along Z-axis, or Z-axis Angular Rate for
OIS LL mode, or Self test sensor data
dVZ_L – lower 8 bits. dVZ_H – upper 8 bits.
dVZ_H
r
58
3A
00111010
00000000
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 20
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 21. Register Overview (Continued)
Name
Type
Register Address
Default
Comment
Dec
Hex
Binary
Data Output Registers (Continued)
TEMP
r
59
3B
00111011
00000000
Temperature Output Data
AE_REG1
r
60
3C
00111100
00000000
AttitudeEngine Register 1
AE_REG2
r
61
3D
00111101
00000000
AttitudeEngine Register 2
5 Sensor Configuration Settings and Output Data
5.1 Typical Sensor Mode Configuration and Output Data
In Typical Sensor Mode, FIS1100 outputs raw sensor values. The sensors are configured and read using the
registers described below. The accelerometer, gyroscope and magnetometer can be independently configured. Table
22 summarizes these pertinent registers.
Table 22. Typical Sensor Mode Configuration and Output Data
Typical Sensor Configuration and Output Data
Description
Registers
Unit
Comments
Sensor Enable, SPI 3 or 4
Wire
CTRL1
Control power states, configure SPI communications
Enable Sensor, Configure
Data Reads
CTRL7
Enable sensor mode (sEN = 0).
Configure data reads from Sensor Data Output Registers with
syncSmpl.
Individually enable/disable the Accelerometer, Gyroscope and
Magnetometer using aEN, gEN, and mENbits, respectively.
Configure Accelerometer,
Enable Self Test
CTRL2
Configure Full Scale and Output Data Rate; Enable Self Test
Configure Gyroscope,
Enable Self Test
CTRL3
Configure Full Scale and Output Data Rate; Enable Self Test
Configure Magnetometer
CTRL4
Configure Output Data Rate and choose device
Sensor Filters
CTRL5
Configure and Enable/Disable High Pass and Low Pass Filters
Status
STATUS0,
STATUS1
Data Availability, Data Overrun, FIFO ready to be read, CTRL9
Protocol Bit
Time Stamp
CNT_OUT
Sample Time Stamp (circular register 0-FF)
Acceleration
A[X,Y,Z]_[H,L]
g
In Sensor Frame of Reference, Right-handed Coordinate System
Angular Rate
G[X,Y,Z]_[H,L]
dps
In Sensor Frame of Reference, Right-handed Coordinate System
Magnetic Field
M[X,Y,Z]_[H,L]
gauss
In Sensor Frame of Reference, Right-handed Coordinate System
Temperature
TEMP
°C
Temperature of the sensor
FIFO Based Output
FIFO_DATA
See FIFO Description section for more details on using the FIFO
to store and access multiple samples
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 21
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.2 AttitudeEngine Mode Configuration and Output Data
In AE Mode, FIS1100 outputs orientation (quaternion) and velocity increments.
Orientation increments are expressed in unit quaternion format. dQ = [QW, QX, QY, QZ]T where QW is the scalar
component of the quaternion increment and QX, QY and QZ are the (imaginary) vector components of the unit
quaternion. Velocity increments are expressed in vector format dV = [VX, VY, VZ].
Table 23 summarizes the operation of the AttitudeEngine mode.
Table 23. AttitudeEngine Mode Configuration and Output Registers
AttitudeEngine Mode
Configuration
Registers
Unit
Comments
Sensor Enable, SPI 3 or 4
Wire
CTRL1
Control power states, SPI communications
Enable AttitudeEngine
CTRL7
Enable the AttitudeEngine (CTRL7, sEN =1, aEN=1, gEN=1,
optionally mEN=1 if external magnetometer is available)
Configure
CTRL6
AttitudeEngine Output Data Rate and Motion on Demand
Configure Accelerometer,
Enable Self Test
CTRL2
Configure Full Scale; Enable Self Test
Configure Gyroscope,
Enable Self Test
CTRL3
Configure Full Scale; Enable Self Test
Configure Magnetometer
CTRL4
Configure Output Data Rate and choose device
Sensor Filters
CTRL5
Configure and Enable/Disable High Pass and Low Pass
Filters
Quaternion Increment
dQ[W,X,Y,Z]_[H,L]
Unit Quaternion format in sensor frame
Velocity Increment
dV[X,Y,Z]_[H,L]
ms-1
Rotation compensated velocity increment (based on specific
force), rotated to sensor frame of reference
Magnetic Field
M[X,Y,Z]_[H,L]
gauss
Rotation compensated magnetic field (rotated to sensor frame
of reference)
Status
STATUS0,
STATUS1
Data Availability, Data Overrun, Wake on Motion detected
Bias Update, Clipping,
Overflow
AE_REG1,
AEREG_2
Magnetometer and Gyroscope bias update
acknowledgement, Sensor clipping acknowledgement,
Velocity increment overflow
Temperature
TEMP
°C
Temperature of the sensor
5.3 General Purpose Register
Table 24. General Purpose Register Description
Register Name
WHO_AM_I
Register Address: 0 (0x00)
Bits
Name
Default
Description
7:0
WHO_AM_I
0xFC
Device identifier FC - to identify the device is a Fairchild sensor
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 22
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.4 Configuration Registers
This section describes the various operating modes and register configurations of the FIS1100.
Table 25. Configuration Registers Description
Register Name
CTRL1
SPI Interface and Sensor Enable. Register Address: 2 (0x02)
Bits
Name
Default
Description
7
SIM
1‟b0
0: Enables 4-wire SPI interface
1: Enables 3-wire SPI interface
6:1
Reserved
6‟b0
Reserved
0
sensorDisable
1‟b0
0: Enables internal 1 MHz oscillator
1: Disables internal 1 MHz oscillator
For more detail, see Table 32 and see Figure 8
CTRL2
Accelerometer Settings: Address: 3 (0x03)
Bits
Name
Default
Description
7:6
Reserved
2‟b0
Reserved
5
aST
1‟b0
Enable Accelerometer Self Test. For more detail, see Section 9.1
4:3
aFS<1:0>
2‟b0
Set Accelerometer Full-scale:
00 - Accelerometer Full-scale = ±2 g
01 - Accelerometer Full-scale = ±4 g
10 - Accelerometer Full-scale = ±8 g
11 - Accelerometer Full-scale = ±8 g
2:0
aODR<2:0>(12)
3‟b0
Set Accelerometer Output Data Rate (ODR):
Setting
ODR Rate
(Hz)
Mode
LPF Bandwidth
(Hz), aLPF=0
LPF Bandwidth
(Hz), aLPF=1
000
1000
High Resolution
500
200
001
250
High Resolution
125
50
010
125
High Resolution
62.5
25
011
31.25
High Resolution
15.625
5
100
125
Low Power
62.5
25
101
62.5
Low Power
31.25
15
110
25
Low Power
12
5
111
3
Low Power
2
0.6
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 23
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 25 Configuration Register Description (Continued)
Register Name
CTRL3
Gyroscope Settings: Address 4 (0x04)
Bits
Name
Default
Description
7
Reserved
1‟b0
6
gST
1‟b0
Enable Gyro Self-Test. For more detail, see Section 9.2, Gyroscope
Self Test
5:3
gFS<2:0>
3‟b0
Set Gyroscope Full-scale:
000 - ±32 dps
001 - ±64 dps
010 - ±128 dps
011 - ±256 dps
100 - ±512 dps
101 - ±1024 dps
110 - ±2048 dps
111 - ±2560 dps
2:0
gODR<2:0> (12)
3‟b0
Set Gyroscope Output Data Rate (ODR):
Setting
ODR
Rate
(Hz)
Mode
LPF
Bandwidth
(Hz). gLPF=0
LPF Bandwidth
(Hz), gLPF=1
000
1000
High-Resolution
500
200
001
250
High-Resolution
125
50
010
125
High-Resolution
62.5
25
011
31.25
High-Resolution
15.625
6
10X
0
Gryo Warm-Start
(“Snooze”)
NA
NA
110
8100
OIS
4050
345
111
8100
OIS LL(13)
2000
N/A(14)
CTRL4
Magnetometer Settings: Address: 5 (0x05)
Bits
Name
Default
Description
7:6
Reserved
2‟b0
5:4
mDEV<1:0>
2‟b0
Designate External Magnetometer Device:
Setting
Vendor
Part Number
00
AKM
AK8975
3:2
Reserved
2‟b0
1:0
mODR<1:0>
2‟b0
Set Recommended Magnetometer Output Data Rate (ODR):
Setting
ODR Rate (Hz)
Description
10
31.25
AKM8975
Note:
12. When both the accelerometer and the gyroscope are enabled, it is typical to set the ODR rates for each sensor
to be identical, such as when output rates are chosen in the range of 1kHz to 32Hz. In case the host requires
different ODRs (for example, as with OIS mode) then, the gyroscope output rate should be chosen to be greater
than or equal to the accelerometer output rate. NOTE: The accelerometer low power mode is only available
when the gyroscope is disabled
13. When gODR<2:0>=111 (OIS LL mode) is selected, the gyro data will be written to dVX_L, dVX_H, dVY_L,
dVY_H, dVZ_L and dVZ_H registers. See register #53 through #58 for additional details.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 24
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 25 Configuration Register Description (Continued)
Register Name
CTRL5
Sensor Data Processing Settings. Register Address: 6 (0x06)
Bits
Name
Default
Description
7:5
Reserved
3‟b0
4
gHPF01
1‟b0
Set HPF corner frequency. See Table associated with gHPF bit
below.
3
gLPF
1‟b0
0: Disable Gyroscope Low-Pass Filter.
1: Enable Gyroscope Low-Pass Filter.
2
gHPF
1‟b0
0: Disable Gyroscope High-Pass Filter.
1: Enable Gyroscope High-Pass Filter (see Table below).
High-Pass Filter corner frequency (fc) with gHPF = 1
ODR Rate (Hz)
gHPF01=1 (Hz)
gHPF01=0 (Hz)
1000
0.1
2.5
250
0.0250
0.6250
125
0.0125
0.3125
31.25
0.0032
0.0800
8100 (gODR=110)
0.1000
0.1000
8100 (gODR=111)
N/A(14)
N/A(14)
1
aLPF
1‟b0
0: Disable Accelerometer Low-Pass Filter.
1: Enable Accelerometer Low-Pass Filter.
0
aHPF
1‟b0
0: Disable Accelerometer High-Pass Filter
1: Enable Accelerometer High-Pass Filter.
CTRL6
Attitude Engine ODR and Motion on Demand: Address: 7 (0x07)
Bits
Name
Default
Description
7
sMoD
1‟b0
0: Disables Motion on Demand.
1: Enables Motion on Demand (Requires sEN=1).
6:3
Reserved
4‟b0
2:0
sODR<2:0>
3‟b0
Attitude Engine Output Data Rate (ODR)
Setting
ODR Rate (Hz)
000
1
001
2
010
4
011
8
100
16
101
32
110
64(15)
111
NA
Notes:
14. For OIS LL mode, no filters can be enabled. gLPF=0 and gHPF=0 should be maintained.
15. This ODR should not be used if magnetometer is enabled
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 25
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 25 Configuration Register Description (Continued)
Register Name
CTRL7
Enable Sensors and Configure Data Reads. Register Address: 8 (0x08)
Bits
Name
Default
Description
7
syncSmpl
1‟b0
This bit determines how data are read out of Sensor Data
Output Registers of the FIS1100.
0: INT2 is placed into edge trigger mode: the Sensor Data
Output Registers are updated at the Output Data Rate (ODR),
and INT2 is pulsed at the ODR rate
1: INT2 is placed into level mode: the Sensor Data Output
Registers are updated at the ODR until the STATUS0 register is
read by the host. Reading STATUS0 causes the Sensor Data
Output Registers register to stop updating and causes INT2 to
be brought low. The Sensor Data Output Registers are not
updated until the last byte has been read from them. Once this
read is complete, the FIS1100 resumes updating the Sensor
Data Output Registers and INT2 will be brought high when new
data is available.
6:4
Reserved
3‟b0
3
sEN
1‟b0
0: Disable AttitudeEngine orientation and velocity increment
computation
1: Enable AttitudeEngine orientation and velocity increment
computation
2
mEN
1‟b0
0: Magnetometer placed in Standby or Power-down Mode.
1: Enable Magnetometer
1
gEN
1‟b0
0: Gyroscope placed in Standby or Power-down Mode.
1: Enable Gyroscope.
0
aEN
1‟b0
0: Accelerometer placed in Standby or Power-down Mode.
1: Enable Accelerometer.
CTRL8
Reserved – Special Settings. Register Address: 9 (0x09)
Bits
Name
Default
Description
7:0
Reserved
0x00
Not Used
Register Name
CTRL9
Host Commands. Register Address: 10 (0x0A)
(See Section 5.7, CTRL 9 Functionality (Executing Pre-defined Commands))
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FIS1100 • Rev. 1.2 26
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.5 Status and Count Registers
Table 27. Status and Time Stamp Registers
Register Name
STATUS0
Output Data Status Register Address: 22 (0x16)
Bits
Name
Default
Description
7
aeOVRN
1‟b0
0: No overrun
1: AE data overrun. Previous data overwritten before it was read.
6
mOVRN
1‟b0
0: No overrun
1: Magnetometer data overrun. Previous data overwritten before it
was read.
5
gOVRN
1‟b0
0: No overrun
1: Gyroscope data overrun. Previous data overwritten before it was
read.
4
aOVRN
1‟b0
0: No overrun
1: Accelerometer data overrun. Previous data overwritten before it
was read.
3
aeDA
1‟b0
AE new data available
0: No updates since last read.
1: New data available.
2
mDA
1‟b0
Valid Magnetometer data available
0: Magnetometer data is NOT Valid
1: Valid Magnetometer data is available at every ODR. If Mag ODR
is lower than accelerometer and gyroscope ODR previous valid
Magnetometer data will be repeated until new data is available
1
gDA
1‟b0
Gyroscope new data available
0: No updates since last read.
1: New data available.
0
aDA
1‟b0
Accelerometer new data available
0: No updates since last read.
1: New data available.
STATUS1
Miscellaneous Status. Register Address 23 (0x17)
Bits
Name
Default
Description
7:3
Reserved
5‟b0
2
WoM
1‟b0
Wake on Motion detected (see Section 8 for more details)
1
FIFO_rddy
1‟b0
FIFO ready to be read.
0
CmdDone
1‟b0
Bit read by Host Processor as part of CTRL9 register protocol. See
Section 5.7 for more information.
CNT_OUT
Sample Time Stamp – Output Count. Register Address: 24 (0x18)
Bits
Name
Default
Description
7:0
CNT_OUT<7:0>
0x00
Sample time stamp. Count incremented by one for each sample
(x, y, z data set) from sensor with highest ODR (circular register
0x00-0xFF).
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 27
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.6 Sensor Data Output Registers
Table 28. Sensor Data Output Registers Description
Register Name
A[X,Y,Z]_[H,L]
Acceleration Output. Register Address: 25 – 30, (0x19 – 0x1E)
Bits
Name
Default
Description
7:0
AX_L<7:0>
0x00
X-axis acceleration in two‟s complement.
AX_L – lower 8 bits. AX_H – upper 8 bits.
7:0
AX_H<15:8>
0x00
7:0
AY_L<7:0>
0x00
Y-axis acceleration in two‟s complement.
AY_L – lower 8 bits. AY_H – upper 8 bits.
7:0
AY_H<15:8>
0x00
7:0
AZ_L<7:0>
0x00
Z-axis acceleration in two‟s complement.
AZ_L – lower 8 bits. AZ_H – upper 8 bits.
7:0
AZ_H<15:8>
0x00
Register Name
G[X,Y.Z]_[H,L]
Angular Rate Output. Register Address: 31 – 36 (0x1F – 0x24)
Bits
Name
Default
Description
7:0
GX_L<7:0>
0x00
X-axis angular rate in two‟s complement.
GX_L – lower 8 bits. GX_H – upper 8 bits.
7:0
GX_H<15:8>
0x00
7:0
GY_L<7:0>
0x00
Y-axis angular rate in two‟s complement.
GY_L – lower 8 bits. GY_H – upper 8 bits.
7:0
GY_H<15:8>
0x00
7:0
GZ_L<7:0>
0x00
Z-axis angular rate in two‟s complement.
GZ_L – lower 8 bits. GZ_H – upper 8 bits.
7:0
GZ_H<15:8>
0x00
Register Name
M[X,Y,Z]_[H,L]
Magnetometer Output. Register Address: 37 - 42. (0x25 – 0x2A)
Bits
Name
Default
Description
7:0
MX_L<7:0>
0x00
X-axis magnetic field data in two‟s complement.
MX_L – lower 8 bits. MX_H – upper 8 bits.
7:0
MX_H<15:8>
0x00
7:0
MY_L<7:0>
0x00
Y-axis magnetic field data in two‟s complement.
MY_L – lower 8 bits. MY_H – upper 8 bits.
7:0
MY_H<15:8>
0x00
7:0
MZ_L<7:0>
0x00
Z-axis magnetic field data in two‟s complement.
MZ_L – lower 8 bits. MZ_H – upper 8 bits.
7:0
MZ_H<15:8>
0x00
Continued on the following page…
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 28
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 28 Sensor Data Output Registers Description (Continued)
Register Name
dQ[1,2,3,4]_[H,L]
Quaternion Output. Register Addresses: 45 – 52 (0x2D – 0x34)
Bits
Name
Default
Description
7:0
dQW_L<7:0>
0x00
Quaternion Increment dQW in two‟s complement.
dQW_L – lower 8 bits. dQW_H – upper 8 bits.
7:0
dQW_H<15:8>
0x00
7:0
dQX_L<7:0>
0x00
Quaternion Increment dQX in two‟s complement.
dQX_L – lower 8 bits. dQX_H – upper 8 bits.
7:0
dQX_H<15:8>
0x00
7:0
dQY_L<7:0>
0x00
Quaternion Increment dQY in two‟s complement.
dQY_L – lower 8 bits. dQY_H – upper 8 bits.
7:0
dQY_H<15:8>
0x00
7:0
dQZ_L<7:0>
0x00
Quaternion Increment dQZ in two‟s complement.
dQZ_L – lower 8 bits. dQZ_H – upper 8 bits.
7:0
dQZ_H<15:8>
0x00
dV[X,Y,Z]_[H,L]
Delta Velocity Output. Register Address: 53 – 58 (0x35– 0x3A)
Bits
Name
Bits
Name
7:0
dVX_L<7:0>
0x00
X-axis Velocity Increment in two‟s complement.
dVX_L – lower 8 bits. dVX_H – upper 8 bits.
When gODR=111, OIS LL Gyro X-axis data in two‟s complement
Also used for accelerometer or gyro self test data
7:0
dVX_H<15:8>
0x00
7:0
dVY_L<7:0>
0x00
Y-axis Velocity Increment in two‟s complement.
dVY_L – lower 8 bits. dVY_H – upper 8 bits.
When gODR=111, OIS LL Gyro Y-axis data in two‟s complement
Also used for accelerometer or gyro self test data
7:0
dVY_H<15:8>
0x00
7:0
dVZ_L<7:0>
0x00
Z-axis Velocity Increment in two‟s complement.
dVZ_L – lower 8 bits. dVZ_H – upper 8 bits.
When gODR=111, OIS LL Gyro Z-axis data in two‟s complement
Also used for accelerometer or gyro self test data
7:0
dVZ_H<15:8>
0x00
TEMP
Temperature Output. Register Address: 59. (0x3B)
Bits
Name
Default
Description
7:0
TEMP<7:0>
0x00
Temperature output (°C) in two‟s complement.
AE_REG1
AttitudeEngine Register 1, Address: 60 (0x3C)
Bits
Name
Default
Description
7
MagBiasAck
1‟b0
Acknowledgement that Mag Bias was updated during this time
period.
6
GyroBiasAck
1‟b0
Acknowledgement that Gyro Bias was updated during this time
period.
5
wz_clip
1‟b0
Gyroscope Z-axis data was clipped during the dQ calculation.
4
wy_clip
1‟b0
Gyroscope Y-axis data was clipped during the dQ calculation.
3
wx_clip
1‟b0
Gyroscope X-axis data was clipped during the dQ calculation.
2
az_clip
1‟b0
Accelerometer Z-axis data was clipped during the dQ calculation.
1
ay_clip
1‟b0
Accelerometer Y-axis data was clipped during the dQ calculation.
0
ax_clip
1‟b0
Accelerometer X-axis data was clipped during the dQ calculation.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 29
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 28 Sensor Data Output Registers Description (Continued)
Register Name
AE_REG2
AttitudeEngine Register 2, Address: 61 (0x3D)
Bits
Name
Default
Description
7
Reserved
1‟b0
6
Reserved
1‟b0
5
mz_clip
1‟b0
Mag Z-axis data was clipped.
4
my_clip
1‟b0
Mag Y-axis data was clipped.
3
mx_clip
1‟b0
Mag X-axis data was clipped.
2
dvz_of
1‟b0
Velocity Increment overflow along dvz.
1
dvy_of
1‟b0
Velocity Increment overflow along dvy.
0
dvx_of
1‟b0
Velocity Increment overflow along dvx.
Table 29. AttitudeEngine Modes and Output Table
Mode/Outputs
dQ
dV
M
CNT_OUT
Comments on
CNT_OUT
AttitudeEngine in ODR Mode (Accelerometer and Gyroscope Enabled)
CTRL6 Register
sEN=1
Quaternion
Increment
Velocity
Increment
No Data
AttitudeEngine
Sample count
8-bit data. Count
starts at 1, 256
count wraps to
0, i.e. Mod(256)
sMoD=0
CTRL7 Register
aEN=1
gEN=1
mEN=0
AttitudeEngine in Motion on Demand (MoD) mode (Accelerometer and Gyroscope enabled)
CTRL6 Register
sEN=1
Quaternion
Increment
Velocity
Increment
No Data
Gyroscope
Samples in
Integration
Window
8-bit data. Count
starts at 1, 256
count wraps to
0, i.e. Mod(256)
sMoD=1
CTRL7 Register
aEN=1
gEN=1
mEN=0
AttitudeEngine with Raw Magnetometer in ODR Mode (Accelerometer, Gyroscope and
Magnetometer Enabled)
CTRL6 Register
sEN=1
Quaternion
Increment
Velocity
Increment
Initial
Raw Mag
Data
AttitudeEngine
Sample Count
8-bit data. Count
starts at 1, 256
count wraps to
0, i.e. Mod(256)
sMoD=0
CTRL7 Register
aEN=1
gEN=1
mEN=1
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 30
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.7 CTRL 9 Functionality (Executing Pre-defined Commands)
5.7.1 CTRL 9 Description
The protocol for executing predefined commands from
an external host processor on the FIS1100 is facilitated
by the using the Control 9 (CTRL9) register on the
FIS1100. The register is available to the host via the SPI
/I2C bus. It operates by the host writing a pre-defined
value (Command) to the CTRL9 register. The firmware
of the FIS1100 evaluates this Command and if a match
is found it executes the corresponding pre-defined
function. Once the function has been executed, the
FIS1100 signals the completion of this by raising INT1
interrupt. The host must acknowledge this by reading
STATUS1 register bit 0. This is the CmdDone bit. After
this read, the FIS1100 pulls down the INT1 interrupt.
This command presentation from the host to the
FIS1100 and the subsequent execution and handshake
between the host and the FIS1000 will be referred to as
the “CTRL9 Protocol”.
There are three types of interactions between the host
and FIS1100 that follow the CTRL9 Protocol.
WCtrl9: The host needs to supply data to FIS1100 prior
to the Ctrl9 protocol. (Write – Ctrl9 Protocol)
Ctrl9R: The host gets data from FIS1100 following the
Ctrl9 protocol. (Ctrl9 protocol – Read )
Ctrl9: No data transaction is required prior to or
following the Ctrl9 protocol. (Ctrl9).
Table 30. CAL Register Addresses
Register Name
Register Address
Dec
Hex
CAL1_H
11
0x0B
CAL1_L
12
0x0C
CAL2_H
13
0x0D
CAL2_L
14
0x0E
CAL3_H
15
0x0F
CAL3_L
16
0x10
CAL4_H
17
0x11
CAL4_L
18
0x12
5.7.2 WCtrl9 (Write – CTRL9 Protocol)
1. The host needs to provide the required data for this
command to the FIS1100. The host typically does
this by placing the data in a set of registers called
the CAL buffer. Currently 8 CAL registers are used
the following table provides the name and
addresses of these registers.
2. Write Ctrl9 register 0x0a with the appropriate
Command value.
3. The Device will raise INT1 and set Bit 0 in
STATUS1 reg, to 1 once it have executed the
appropriate function based on the command value.
4. The host must acknowledge this by reading
STATUS1 register bit 0 (CmdDone) which is reset
to 0 on reading the register. Also INT1 is pulled low,
completing the CTRL9 transaction.
5. If any data is expected from the device it will be
available at this time. The location of the data is
specified separately for each of the Commands.
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FIS1100 • Rev. 1.2 31
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.7.3 Ctrl9R (CTRL9 Protocol - Read)
1. Write Ctrl9 register 0x0A with the appropriate
Command value.
2. The Device will raise INT1 and set Bit 0 in
STATUS1 register to 1 once it has executed the
appropriate function based on the command value.
3. The host must acknowledge this by reading
STATUS1 register bit 0 (CmdDone) which is then
reset to 0 upon reading the register. Also INT1 is
pulled low upon the register read, completing the
CTRL9 transaction.
Data is available from the device at this time. The
location of the data is specified separately for each
of the Commands (see Section 5.7.5, CTRL9
Commands in Detail).
5.7.4 Ctrl9 (CTRL9 Protocol
Acknowledge)
1. Write CTRL9 register 0x0a with the appropriate
Command value.
2. The Device will raise INT1 and set Bit 0 in
STATUS1 register to 1 once it has executed the
appropriate function based on the command value.
3. The host must acknowledge this by reading
STATUS1 register bit 0 (CmdDone) which is then
reset to 0 upon reading the register. Also INT1 is
pulled low, upon the register read, completing the
CTRL9 transaction.
Table 31. CTRL9 Register CMND Values:
CMND Name
CTRL9
Command Value
Protocol
Type
Description
CTRL_CMD_RST_AHPF
0x03
Ctrl9
Reset Accelerometer High Pass Filter
from Host
CTRL_CMD_RST_GHPF
0x04
Ctrl9
Reset Gyroscope High Pass Filter from
Host
CTRL_CMD_AE_MAG_OFFSET
0x0b
WCtrl9
Set Magnetometer Offset from Host
CTRL_CMD_AE_GYRO_OFFSET
0x0e
WCtrl9
Set Gyroscope Offset from Host for most
accurate computation of dQ by AE
CTRL_CMD_REQ_MoD
0x0c
Ctrl9R
Get AE Data from Device in MoD Mode
CTRL_CMD_HOST_ACCEL_OFFSET
0x12
WCtrl9
Set Accelerometer Offset from Host
Dynamically
CTRL_CMD_HOST_GYRO_OFFSET
0x13
WCtrl9
Set Gyroscope Offset from Host
Dynamically
CTRL_CMD_MAG_SKOR_X
0x06
WCtrl9
Set X Magnetometer, Offset and Skew
from Host
CTRL_CMD_MAG_SKOR_Y
0x07
WCtrl9
Set Y Magnetometer, Offset and Skew
from Host
CTRL_CMD_MAG_SKOR_Z
0x08
WCtrl9
Set Z Magnetometer, Offset and Skew
from Host
CTRL_CMD_GET_TCYCLE
0x18
Ctrl9R
Get TCYCLE time from Device
CTRL_CMD_REQ_FIFO
0x0d
Ctrl9R
Get FIFO data from Device
CTRL_CMD_RST_FIFO
0x02
Ctrl9
Reset FIFO from Host
CTRL_CMD_WRITE_WoM_SETTING
0x19
WCtrl9
Set up and enable Wake on Motion
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 32
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.7.5 CTRL9 Commands in Detail
CTRL_CMD_RST_AHPF
This CTRL command of writing 0x03 to the CTRL9
register 0x0A allows the host to instruct the device to
reset the accelerometer high-pass filter.
CTRL_CMD_RST_GHPF
This CTRL9 command of writing 0x04 to the CTRL9
register 0x0A allows the host to instruct the device to
reset the gyroscope high-pass Filter.
CTRL_CMD_AE_MAG_OFFSET
This CTRL9 Command is issued to configure the AE
with specific magnetometer offset data. The X,Y & Z
magnetometer offset are provided to the device from the
host. They are 16 bit each and programmed into the
CAL1 to CAL3 registers respectively.
CTRL_CMD_AE_GYRO_OFFSET
This CTRL9 Command is issued to configure the AE
with specific Gyro offset data required for dQ
computations. The X,Y & Z gyro bias specific for AE
engine are provided to the device from the host. They
are 16 bit each and programmed into the CAL1 to CAL3
registers respectively.
CTRL_CMD_REQ_MoD
This CTRL9 command is used to retrieve motion data
from the FIS1100 when Motion on Demand mode (MoD)
is enabled. To enable MoD the device should have the
AttitudeEngine orientation enabled. This can be done by
enabling the AttitudeEngine by setting CTRL7 Bit 3
(sEN) to 1. Then the MoD mode can be enabled by
setting CTRL6 Bit 7 (sMoD) to 1. The
CTRL_CMD_REQ_MoD command is then issued by
writing 0x0C to CTRL9 register 0x0A. This indicates to
the FIS1100 that it is required to supply the motion data
to the host. The device immediately makes available the
orientation and velocity increments it has computed so
far to the host by making it available at output registers
0x25 to 0x3D and raise the INT1 to indicate to the host
that valid data is available.
CTRL_CMD_HOST_ACCEL_OFFSET
This CTRL9 command is issued when the host wants to
tune the accelerometer offset. The incremental value of
the offset should be 16 bit 2‟s complement format with 5
bits for signed integer and 11 bits fraction. The value
should be placed into the CAL1 to CAL3 register for X,
Y, and Z, respectively. The new value provided here will
be subtracted from the accelerometer base offset value.
The new value is used for dynamic calibration. There
will be a delay of up to 3 output samples before this
takes effect. Once the host has loaded the offset values
in the CALx registers it needs to issue the CTRL9
command by writing the 0x12 to CTRL9 register 0x0A.
CTRL_CMD_HOST_GYRO_OFFSET
This CTRL9 command is issued when the host wants to
tune the gyroscope offset. The incremental value of the
offset should be 16 bit 2‟s complement format with 10
bits for signed integer and 6 bits fraction. The value
should be placed into the CAL1 to CAL3 registers for X,
Y, and Z, respectively. The new value provided here is
subtracted from the gyroscope base offset value. The
new value is used for dynamic calibration. There will be
a delay of up to 3 output samples before this takes
effect. Once the host has loaded the offset values in the
CALx registers it needs to issue the CTRL9 command
by writing 0x13 to CTRL9 register 0x0A.
CTRL_CMD_MAG_SKOR_X
This CTRL9 Command is issued to configure the
Magnetometer device calibration value. The X Offset,
Scale and 2 skew values are provided to the device
from the host. They are 16 bits each and programmed
into the CAL1 to CAL4 registers. Once the host has
loaded the offset values in the CALx registers it needs
to issue the CTRL9 command by writing the 0x06 to
CTRL9 register 0x0a.
CTRL_CMD_MAG_SKOR_Y
This CTRL9 Command is issued to configure the
magnetometer device with the calibration value. The Y
offset, scale and 2 skew values are provided to the
device from the host. They are 16 bits each and
programmed into the CAL1 to CAL4 registers. Once the
host has loaded the offset values in the CALx registers it
needs to issue the CTRL9 command by writing 0x07 to
CTRL9 register 0x0A.
CTRL_CMD_MAG_SKOR_Z
This CTRL9 Command is issued to configure the
magnetometer device with the calibration value. The Z
offset, scale and 2 skew values are provided to the
device from the host. They are 16 bits each and
programmed into the CAL1 to CAL4 registers. Once the
host has loaded the offset values in the CALx registers it
needs to issue the CTRL9 command by writing 0x08 to
CTRL9 register 0x0A.
CTRL_CMD_GET_TCYCLE
This CTRL9 Command can only be issued when the
FIS1100 is in the AE Mode. The Host can issue this
command to get the exact time in milliseconds between
samples (for example 1 Hz ODR may not be exactly 1
sec but could be 0.998 seconds). This command is
issued by writing 0x18 to CTRL9 register 0x0A.
CTRL_CMD_REQ_FIFO
This CTRL9 Command is issued when the host wants to
get data from the FIFO. When the FIFO is enabled it will
be indicated to the host by asserting INT2 and thus
signaling that a flag condition (like FIFO full) has been
reached and that data is available to be read by the
host. This Command is issued by writing 0x0D to the
CTRL9 register 0x0A. The device will raise INT1 to
indicate that it is ready for a FIFO transaction. The host
must read the STATUS1 register bit 0 (CmdDone). At
this point the host should set the FIFO_rd_mode Bit to 1
(FIFO_CTRL register 0x13 bit 7). The device will direct
the FIFO data to the FIFO_DATA register 0x14 until the
FIFO is empty. The host must now set FIFO_rd_mode
to 0 which will cause the INT2 to be de-asserted.
CTRL_CMD_RST_FIFO
This CTRL9 command of writing 0x02 to the Ctrl9
register 0x0a allows the host to instruct the device to
reset the FIFO.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 33
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
CTRL_CMD_WRITE_WOM_SETTING
This CTRL9 Command is issued when the host wants to
enable/modify the trigger thresholds or blanking interval
of the Wake on Motion Feature of the device. Please
refer to Section 8 for details for setting up this feature.
Once the specified CALx registers are loaded with the
appropriate data, the Command is issued by writing
0x19 to CTRL9 register 0x0A.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 34
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
5.8 Interrupts
The FIS1100 has two Interrupt lines; INT1 and INT2.
INT1 is used as a general purpose interrupt. The details
are described in the specific sections where INT1 and
INT2 are used. The following provides a summary of the
INT1 and INT2 usage.
5.8.1 Interrupt 1 (INT1)
The following summarizes the use of INT1:
Set high for ~4 ms after reset to indicate that the chip is
ready for normal operation.
If any operation has set INT1 it will always be cleared by
reading STATUS1 register
Used as part of the CTRL9 handshake protocol (see
section 5.7)
During gyroscope OIS mode INT1 is driven by the
gyroscope ODR clock (~8 MHz). In this mode all normal
INT1 functions are disabled.
When Wake on Motion (WoM) is enabled, INT1 can be
selected to indicate WoM (see section 8).
5.8.2 Interrupt 2 (INT2)
INT2 generally indicates data availability. The following
indicates when INT2 will be asserted.
Register-Read Mode (FIFO Bypass Mode)
In Register-Read mode the accelerometer, gyroscope
and magnetometer data are available in the Sensor
Data Output registers (A[X,Y,Z]_[H,L]). The updating of
these output registers and the functionality of the INT2
interrupt is controlled by the syncSmpl bit as described
below.
With syncSmpl = 0 (refer to Table 25, CTRL7 register bit
7), INT2 is placed into edge trigger mode: the Sensor
Data Output Registers are updated at the Output Data
Rate (ODR), and INT2 is pulsed at the ODR. A rising
edge on INT2 indicates that data is available and INT2
is cleared automatically after a short duration. It is the
responsibility of the host to detect the rising edge and to
latch the data before the next sample occurs. Note that
the INT2 pulse width is dependent on the ODR and the
sensor. It is not recommended to depend on the level to
determine if INT2 has occurred.
With syncSmpl = 1 (refer to Table 25, CTRL7 register bit
7), INT2 is placed into level mode: The INT2 is asserted
when data is available and remains asserted until the
host reads STATUS0 register.
The device continues to refresh the output data until the
STATUS0 register is read by host.
Once the STATUS0 is read by host the FIS1100 will de-
assert INT2 and stop refreshing the output data. Once
the host detects INT2 has been de-asserted it can start
reading the output data.
Once the last byte of data is read by the host (FIS1100
keeps track) the FIS1100 will start updating the output
register and setup the next INT2 when data is available
in the output registers.
FIFO Enabled Mode (see Section 7)
When the FIFO is enabled in the FIFO mode (the mode
bits in FIFO_CTRL register set to 01), INT2 is asserted
when the FIFO is full or when the watermark is reached.
When the FIFO is enabled in the Streaming Mode (the
mode bits in FIFO_CTRL register set to 10), INT2 is
asserted when the watermark is reached but not when
the FIFO is full because in the stream mode the FIFO
will continue to fill by overwriting the oldest data in the
FIFO.
INT2 is cleared in both the FIFO Mode and the
Streaming Mode by clearing the FIFO_rd_mode bit in
the FIFO_CTRL register. This is done as part of the
CTRL9 command CTRL_CMD_REQ_FIFO (see Section
5.7.5 for details).
Accelerometer and Gyroscope Self Test Modes (see
Section 9)
INT2 is asserted to indicate availability of self-test data
and is cleared by resetting the aST and gST bits in
CTRL2 and CTRL3 registers, respectively.
AE Mode
In AE Mode, INT2 is asserted when data is available.
OIS LL Mode
In this mode, the gyroscope operates in a high data rate
Optical Image Stability (OIS) mode with Low Latency
(LL). Data is transmitted through the SPI interface at
8.1 kHz. The SPI bus can be operated using a 3-wire or
4-wire interface by setting the CTRL1 SIM bit. Data is
clocked out on the rising edge of INT2. The
accelerometer may be used in this mode with a 1 kHz
ODR.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 35
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
6 Operating Modes
The FIS1100 offers a large number of operating modes
that may be used to operate the device in a power
efficient manner. These modes are described in Table
32 and are shown in Figure 8; they may be configured
using the control (CTRL) registers.
Table 32. Operating Modes
Mode
Description
Suggested Configuration
Sensor Modes
Power-On Default
All sensors off, clock is turned on. The current in this mode
is typically 15 µA. Note this mode is the default state upon
initial power up or after a reset.
CTRL1 sensorDisable = 0
CTRL7 aEN = 0, gEN = 0,
mEN = 0, sEN=0.
CTRL2 aODR=000
Low Power
Same as Power-On Default mode, except in this mode the
125 kHz clock is turned on instead of the 1 MHz clock. The
current in this mode is typically 5 µA. To enter this mode
requires host interaction to set CTRL2 aODR=1xxx.
CTRL1 sensorDisable =0
CTRL7 aEN = 0, gEN = 0,
mEN = 0, sEN=0.
CTRL2 aODR=1xx
Power-Down
All FIS1100 functional blocks are switched off to minimize
power consumption. Digital interfaces remain on allowing
communication with the device. All configuration register
values are preserved and output data register values are
maintained. The current in this mode is typically 2 µA. Host
must initiate this mode by setting sensorDisable=1
CTRL1 sensorDisable =1
CTRL7 aEN = 0, gEN = 0,
mEN = 0, sEN=0.
CTRL2 aODR=xxx
Accel Only
Device configured as an accelerometer only.
CTRL7 aEN =1, gEN =0,
mEN =0
CTRL2 aODR=0xx
Low Power Accel Only
Device configured in low power accelerometer mode
CTRL7 aEN =1, gEN =0,
mEN =0
CTRL2 aODR=1xx
Gyro Only
Device configured as a gyroscope only.
CTRL7 aEN =0, gEN =1,
mEN =0
CTRL2 aODR=000
Mag Only
Device configured as a magnetometer only.
CTRL7 aEN =0, gEN =0,
mEN =1
CTRL2 aODR=000
Accel + Mag
Device configured as an accelerometer and magnetometer
combination only. Device can be used as a (stabilized)
compass.
CTRL7 aEN =1, gEN =0,
mEN =1
CTRL2 aODR=0xx
Accel + Gyro (IMU)
Device configured as an Inertial Measurement Unit, i.e. an
accelerometer and gyroscope combination sensor.
CTRL7 aEN =1, gEN =1,
mEN =0
CTRL2 aODR=0xx
Accel + Gyro + Mag
(9DOF)
Accelerometer and gyroscope are enabled and combined
with an external magnetometer and the device can be used
as a 9D orientation sensor (Attitude and Heading
Reference).
CTRL7 aEN =1, gEN =1,
mEN =1
CTRL2 aODR=0xx
Wake on Motion (WoM)
Very low power mode used to wake-up the host by providing
an interrupt upon detection of device motion.
WoM Mode enabled - see
CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5 and
see Section 8, Wake On Motion (WoM)
CTRL7 aEN =1, gEN =0,
mEN =0
CTRL2 aODR = 111
Gyro Warm Start
This mode turns on the gyroscope drive and shuts off the
sense path of the gyroscope. This mode can be used as a
low-power mode to quickly turn on the gyroscope without
needing to wake-up the gyroscope from the Power On
Default state (see Figure 8 and Section 6.2).
CTRL3 gODR = 100
CTRL2 aODR = 0xx
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 36
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 32 Operating Modes (Continued)
Mode
Description
Suggested Configuration
Sensor Modes
OIS
In this mode, the gyroscope operates in a high data rate
Optical Image Stability (OIS) mode. Data is transmitted
through the SPI interface at 8.1 kHz. The SPI bus can be
operated using a 3-wire or 4-wire interface by setting the
CTRL1 SIM bit. Data is clocked out on the falling edge of
INT1. The accelerometer is not available in this mode.
CTRL3 gODR = 110
CTRL2 aODR = 0xx
OIS LL
In this mode, the gyroscope operates in a high data rate
Optical Image Stability (OIS) mode with Low Latency. Data
is transmitted through the SPI interface at 8.1 kHz. The SPI
bus can be operated using a 3-wire or 4-wire interface by
setting the CTRL1 SIM bit. Data is clocked out on the rising
edge of INT2. The accelerometer may be used in this mode
with a 1kHz ODR.
CTRL3 gODR = 111
CTRL2 aODR = 000
Hardware Reset
RST pin asserted
No Power
VDDd and VDDa low
Attitude Engine Modes
6DOF AttitudeEngine
Mode
Attitude Engine Mode with Accel and Gyro. Note that
velocity increments and orientation (quaternion) increments
will be output rather than sensor values
CTRL7 aEN = 1, gEN = 1, sEN
= 1
CTRL2 aODR=0xx
9DOF AttitudeEngine
Mode
AttitudeEngine Mode with Accel, Gyro, and Mag. Note that
velocity increments, orientation (quaternion) increments and
magnetic field values will be output rather than sensor
values
CTRL7 aEN = 1, gEN = 1, sEN
= 1,
mEN = 1
CTRL4 (configure
magnetometer as needed)
Motion On Demand
Mode
This mode allows Host to sample AttitudeEngine data
asynchronously by polling
CTRL7 aEN = 1, gEN = 1, sEN
= 1
CTRL6 sMOD = 1
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FIS1100 • Rev. 1.2 37
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Power-On Default
(All Sensors Off, Normal
Clock)
Power Down
(All Sensors
and Clock Off)
sensorDisable
= 1
Mag Only
aODR=0-3
mODR=32Hz
No Power
Hardware
Reset
Wake on
Motion
(WoM)
aODR = 7
Low Power
(All Sensors
Off, Slow
Clock)
aODR=4-7
Low Power
Accel Only
aODR=4-7
Accel Only
aODR=0-3
Gyro Only
aODR=0-3
gODR=0-5
Gyro Warm Start
(Gyro Drive Off)
aODR=0-3
gODR=4-5
Accel + Gyro
(IMU)
aODR=0-3
gODR=0-3
OIS
aODR=0-3
gODR=7
Accel + Gyro
+ Mag (9DOF)
aODR=0-3
gODR=0-3
mODR=32Hz
OIS LL
aODR=0-3
gODR=6
From Any StateFrom Any State
t0 t0
t0
t7
t6
t3+t5
t6
t1+t5
t6
t1+t5
t1+t5
t6
t1+t5
t2 +t5
t4 + t5
t6
t1
t6
t6
t1+t5
t4 +t5
t7
t6
t2+t5
t6t2+t5
t2+t5
t6
t2+t5
t7
t7
t2+t5
t6
t6
Accel + Mag
aODR=0-3
mODR=32Hz
t3+t5
t6
Figure 8. Operating Mode Transition Diagram
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FIS1100 • Rev. 1.2 38
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
6.1 General Mode Transitioning
Upon exiting the No Power state (i.e. on first applying
power to the part) or exiting a Hardware Reset state, the
part will enter the Power-On Default state. From there,
the sensor can be configured in the various modes
described in Table 32 and as shown in Figure 8. The
figure illustrates the timing associated with various
mode transitions, and values for these times are given
in the section below and in Table 7 and Table 8.
6.2 Transition Times
The time it takes for data to be present after a mode
switch will vary and depends on which mode has been
selected. For example, the time it takes for retrieving
data from the accelerometer after a mode switch is less
than any mode that involves the gyroscope. The times
t1, t2, t3 and t4, are defined as the time it takes from
INT2 going high to data being present. The time, t5 is
the time it takes to have a correct representation of the
inertial state. t5 is variable and is associated with the
user selected Output Data Rate (ODR). We have
defined t5 = (3/ODR) to generally represent that time.
t6 is the time it takes to go from a sensor powered state
to a state where the sensors are off. This time depends
on the Output Data Rate (ODR) and ranges from 1/ODR
to 2/ODR.
t7 is the transition time between various states where
the sensors are off.
t0 is the System Turn On Time, and is the time to enter
the Power-On Default state from Hardware Reset, No
Power, or Power down.
Time t0 is the System Turn on Time and is 1.75
seconds. This time only needs to be done once,
upon transitioning from either a No Power or Power
Down state, or whenever a RST (reset) is issued,
which should not be done unless the intent is to
have the device to go through its entire boot
sequence (see the specification System Turn On
Time in both Table 7 and Table 8).
The Gyro Turn on Time (see Table 8) is comprised
of t1 (the gyroscope wakeup time) and t5 (the part‟s
filter settling time). t1 is typically 60 ms and t5 is
defined as 3/ODR, where ODR is the output data
rate in Hertz.
The Accel Turn on Time (see Table 7) is comprised
of t2 (the accel wakeup time) and t5 (the part‟s filter
settling time). t2 is typically 3 ms, and t5 is defined
as 3/ODR, where ODR is the output data rate in
Hertz.
Time t3 is the magnetometer wakeup time, which is
typically 12 ms. Transitioning from the Power-On
Default state to a Mag Only state or a Mag + Accel
state takes the time t3 + t5, where t5 is defined as
3/ODR, where ODR is the output data rate in Hertz.
The Gyro Warm Start Turn On Time (see Table 8)
is comprised of t4 (the gyroscope wakeup time from
warm-start) and t5 (the part‟s filter settling time). T4
is typically 5 ms, and t5 is defined as 3/ODR, where
ODR is the output data rate in Hertz.
The t7 transition is dependent on data transfer rates
and is for I2C at 400 kHz is <100 µs for SPI at
11 Mbps is around 40 µs.
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FIS1100 • Rev. 1.2 39
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
7 FIFO Description
7.1 Using the FIFO
The FIS1100 contains a programmable 1536 byte data
buffer which can be used as a FIFO buffer. The FIFO‟s
operating mode and configuration are set via the
FIFO_CTRL register. FIFO data may consist of
gyroscope, accelerometer and magnetometer data and
is accessible via the serial interfaces. The FIFO also
supports burst reads. The host must complete its burst
read prior to the next sensor data period. This time
period is defined by the ODR selected. Depending on
how many sensors are enabled, the host will need to
read increments of 6, 12 or 18 bytes, corresponding to
one, two and three sensors active at the same time.
This feature helps reduce overall system power
consumption by enabling the host processor to read and
process the sensor data in bursts and then enter a low-
power mode. The interrupt function may be used to alert
when new data is available.
Accel X,Y,Z ADC
Accel Internal
Sampling Registers
Digital Filters
Gyro X,Y,Z ADC
Gyro Internal
Sampling Registers
Digital Filters
External Magnetomer
X,Y,Z
I2C Master I/F
Magnetometer
Internal Sampling
FIFO
(1536 Bytes)
FIFO Read Control
Logic
Host (SPI or I2C)
Figure 9. FIFO Data Flow
The FIFO size is configured using the FIFO_CTRL
register. When the FIFO is enabled for two or more
sensors, as is true for all modes that have multiple
sensors active, the sensors must be set at the same
Output Data Rate (ODR).
The FIFO is read through the I2C/SPI interface by
reading the FIFO_DATA register. Any time the Output
Registers are read, data is erased from the FIFO
memory.
The FIFO has multiple operating modes: Bypass, FIFO,
and Streaming. The operating modes are set using the
mode<1:0> bits in the FIFO_CTRL register.
Enabling FIFO
The FIFO is configured by writing to the FIFO_CTRL
register and is enabled after the accelerometer and/or
gyroscope are enabled. If the watermark function is
enabled in the FIFO_CTRL register, pin INT2 is
asserted when the FIFO watermark level is reached.
Reading Sensor Data from FIFO
Sensor data is read from the FIFO through the following
command sequence. (For additional information, see
the Section 5.7.1 for CTRL9 description).
Request access to FIFO data buffer by sending
CTRL9 command 0x0D.
Set FIFO_rd_mode bit to 1 in FIFO_CTRL.
Read FIFO_DATA register to empty the FIFO.
After FIFO is emptied, set FIFO_rd_mode bit to 0.
Note that when only the accelerometer or gyroscope is
enabled, the sensor data format at the host interface is:
AX_L[0]AX_H[0]]AY_L[0]AY_H[0]AZ_L
[0]AZ_H[0]AX_L[1]…
When 2 sensors are enabled, the sensor data format is:
AX_L[0]AX_H[0]AY_L[0]AY_H[0]
AZ_L[0]AZ_H[0]GX_L[0]GX_H[0]
GY_L[0]GY_H[0]GZ_L[0]GZ_H[0]
AX_L[1]AX_H[1]…
When 3 sensors are enabled, the sequence will be
extended to include the 6 corresponding magnetometer
samples.
Bypass Mode
In Bypass mode (set in FIFO_CTRL), the FIFO is not
operational and, therefore, remains empty. Sampled
data from the gyroscope and/or Accelerometer are
stored directly in the Sensor Data Output Registers (see
Table 28). When new data is available, the old data is
over-written.
FIFO Mode
In FIFO mode, data from the sensors are stored in the
FIFO. The watermark interrupt, if enabled in
FIFO_CTRL, is triggered when the FIFO is filled to the
level specified by the value of wtm<1:0> in the
FIFO_CTRL register. The FIFO continues filling until it is
full. When full, the FIFO stops collecting data from the
input channels. Data collection restarts when FIFO is
emptied.
Streaming Mode
In Streaming mode (set in FIFO_CTRL), data from the
gyroscope and accelerometer are stored in the FIFO. A
watermark interrupt can be enabled and set as in FIFO
mode. The FIFO continues filling until full. In this mode,
the FIFO acts as a circular buffer, when full, the FIFO
discards the older data as the new data arrives.
Programmable watermark level events can be enabled
to generate dedicated interrupts on the DRDY/INT2 pin
(configured through the FIFO_CTRL register).
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FIS1100 • Rev. 1.2 40
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
7.2 FIFO Register Description
Table 33. FIFO Registers Description
Register Name
FIFO_CTRL
Configure FIFO. Register Address: 19 (0x13)
Bits
Name
Default
Description
7
FIFO_rd_mode
1‟b0
0: Disable FIFO read via FIFO_DATA register.
1: Enable FIFO read via FIFO_DATA register.
6
Reserved
1‟b0
Reserved
5:4
wtm<1:0>
2‟b0
Set Watermark level.
00 – Do not use.
01 – Set watermark at ¼ of FIFO size.
10 – Set watermark at ½ of FIFO size.
11 – Set watermark at ¾ of FIFO size.
3:2
size<1:0>
2‟b0
Set FIFO size. (See Table 34 for more details.)
00 – Set FIFO size at 16 samples for each enabled sensor
01 – Set FIFO size at 32 samples for each enabled sensor
10 – Set FIFO size at 64 samples for each enabled sensor
11 – Set FIFO size at 128 samples for each enabled sensor (up to 2 sensors
enabled only)
1:0
mode<1:0>
1‟b0
Set FIFO Mode.
00 – Bypass (FIFO disable).
01 – FIFO.
10 – Streaming.
11 – Not Used
FIFO_DATA
FIFO Data Register. Register Address: 20 (0x14)
Bits
Name
Default
Description
7:0
data<7:0>
8‟b0
Read this register to read sensor data out of FIFO.
FIFO_STATUS
FIFO Status. Register Address: 21 (0x15)
Bits
Name
Default
Description
7
resv
1‟b0
Reserved
6
wtm
1‟b0
Watermark level hit.
5
overflow
1‟b0
FIFO over-flow condition.
4
not_empty
1‟b0
FIFO not empty.
3:0
fss<3:0>
4‟b0
Indicates FIFO storage level. For more information, see Table 34
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 41
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Table 34. FIFO Storage Level Indicator fss<3:0> Description
fss<3:0> Description
Comments
The FIFO storage level is indicated by the bits fss<3:0> in the FIFO_STATUS
register. The value of fss<3:0> represents a coarse value of the FIFO storage level.
The coarseness or granularity varies based on the TOTAL FIFO size, as set by the
bits size<1:0> in the FIFO_CTRL register.
Total FIFO size is the sum of the Accelerometer, Gyroscope and Magnetometer
FIFO samples. Each sample for each sensor uses 6 bytes in the FIFO (2 bytes per
axis x 3 axes). For example, with 2 sensors active and the bits size<1:0> = [11], the
FIFO size is 256 samples (=2x128), which in bytes is 1536 bytes (=6*2*128).
In the table below, the Total FIFO Size lists the total number of sensor samples.
Note that this value varies based upon the number of sensors enabled and upon the
bits size<1:0> in the FIFO CTRL register .
The value of the bits fss<3:0> in the FIFO_STATUS register, represents a coarse
sample count, whose granularity is given by the number of sensor samples per LSB,
as shown below.
FIFO_CTRL
register,
bits
size<1:0>
No. of
Sensors
Enabled
(A, G, or M)
Total FIFO Size
(Total Number of Samples)
fss<3:0> Granularity
(Number of Sensor Samples per LSB)
00
1
16
2
01
1
32
4
00
2
00
3
48
4
10
1
64
8
01
2
01
3
96
8
11
1
128
16
10
2
10
3
192
16
11
2
256
32
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FIS1100 • Rev. 1.2 42
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
8 Wake On Motion (WoM)
8.1 Wake on Motion Introduction
The purpose of the Wake on Motion (WoM) functionality
is to allow a system to enter a low power sleep state
while the system is static and then to automatically
awaken when moved. In this mode the system should
use very little power, yet still respond quickly to motion.
It is assumed that the system host processor is
responsible for configuring the FIS1100 correctly to
place it into Wake on Motion mode, and that the system
host processor will reconfigure the FIS1100 as
necessary following a WoM interrupt.
Wake on Motion is configured through the CTRL9
command interface (see write-up for
CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5
CTRL9 Commands in Detail).
Table 35. Registers used for WoM
Register (bits)
Function
CAL1_L (0:7)
WoM Threshold: absolute value in
mg (with 1mg/LSB resolution)
0x00 must be used to indicate that
WoM mode is disabled
CAL1_H (7;6)
WoM interrupt select
01 – INT2 (with initial value 0)
11 – INT2 (with initial value 1)
00 – INT1 (with initial value 0)
10 - INT2 (with initial value 1)
CAL1_H (0:5)
Interrupt blanking time (in number of
accelerometer samples)
The threshold value is configurable to make the amount
of motion required to wake the device controllable by
the host application. The special threshold value of 0x00
can be used to disable the WoM mode, returning the
interrupt pins to their normal functionality.
The interrupt initial value (1 or 0) and the interrupt pin
used for signaling (INT1 or INT2) are selectable to make
it easy for system integrators to use the WoM motion
mode to wake the host processor from its deepest sleep
level. Using the lowest power mode on many
microcontrollers requires the use of special wake up
pins that may have only a single polarity setting, and
thus may not be useable for other special purposes
such as timer captures.
The interrupt blanking time is a programmable number
of accelerometer samples to ignore when starting WoM
mode so that no spurious wake-up events are
generated by startup transients.
8.2 Accelerometer Configuration
For additional tuning of the WoM responsiveness, the
precise configuration of the accelerometer is left to the
host. This gives the host processor the ability to
program the desired sample rate and full-scale range.
8.3 Wake on Motion Event
When a Wake on Motion event is detected the FIS1100
will set bit 2 (WoM) in the STATUS1 register. Reading
STATUS1 by the host will clear the WoM bit and will
reset the chosen interrupt line (INT1 or INT2, see
previous section) to the value given by the WoM
interrupt initial value (see previous section).
For each WoM event, the state of the selected interrupt
line is toggled. This ensures that while the system is
moved, the host processor will receive wakeup
interrupts regardless of whether it uses high, low,
positive- or negative-edge interrupts.
The FIS1100 stays in WoM mode until commanded to
enter a new mode by the host processor.
8.4 Configuration Procedure
The host processor is responsible for all configurations
necessary to put the FIS1100 into WoM mode. The
specific sequence of operations performed by the host
processor to enable WoM is shown in Figure 10.
Figure 10. WoM Configuration
Commands and Sequence
The WoM bit is cleared upon setting the WoM threshold
to a non-zero value, and the selected interrupt pin is
configured according to the settings. Special care has
been taken that the WoM interrupt does not activate due
to any transients when the accelerometer is first
enabled. An interrupt blanking time is included that
prevents such spurious interrupts to propagate.
Disable sensors. (Write 0x00
to CTRL7)
Set Accelerometer sample
rate and scale (Write CTRL2)
Set Wake on Motion (WoM)
Threshold in CAL1_L;
select interrupt, polarity and
blanking time in CAL1_H
Execute CTRL9 command to
configure WoM mode
Set Accelerometer enable bit
in CTRL7
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 43
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
8.5 Wake on Motion Control Registers
The WoM configuration is controlled by values written to
the CAL1_x registers, as shown in Table 35.
8.6 Exiting Wake on Motion Mode
To exit WoM mode the host processor must first clear
CTRL7 to disable all sensors, and then write a threshold
value of 0x0 for the WoM Threshold (see Table 35,
Registers used for WoM)and execute the WoM
configuration CTRL9 command (see write-up for
CTRL_CMD_WRITE_WOM_SETTING in Section 5.7.5
CTRL9 Commands in Detail). On doing this the interrupt
pins will return to their normal function. After zeroing the
WoM Threshold the host processor may proceed to
reconfigure the FIS1100 as normal, as in the case
following a reset event.
Figure 11. WoM Example Diagram
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 44
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
9 Performing Device Self Test
9.1 Accelerometer Self Test
The accelerometer Self Test is used to determine if the
accelerometer is functional and working within
acceptable parameters. It does this by using an
electrostatic force to actuate the inputs of each axis, AX,
AY, and AZ. If the accelerometer mechanical structure
responds to this input stimulus by sensing 50 mg or
greater we can conclude that the accelerometer is
functional. The accelerometer Self Test data is available
to be read at registers dVX_L, dVX_H, dVY_L, dVY_H,
dVZ_L and dVZ_H. The Host can initiate the Self Test at
anytime by using the following procedure.
Procedure for accelerometer Self Test:
1. Set CTRL7 register to 0x00.
2. Wait 1 msec.
3. Set CTRL2 register to 0x10 (aFS =2, aODR= 0).
4. Wait 1 msec .
5. Set CTRL2 register to 0x30. This enables aST
(accelerometer Self Test enable bit).
6. Wait for the device to drive INT2 high.
7. Read DVX_L, DVX_H, DVY_ L, DVY_H, DVZ_L &
DVZ_H registers for the Self Test data.
8. Set CTRL2 register to 0x10 to disable aST.
9. INT2 will be pulled low by the FIS1100.
10. Set CTRL2 register to 0x00 ( back to default value
at power up)
11. Based on the data the host processor determines if
the accelerometer response is greater or equal to
50 mg.
12. If “yes”, then the accelerometer Self Test has
passed.
9.2 Gyroscope Self Test
The gyroscope Self Test is used to determine if the
gyroscope is functional and working within acceptable
parameters. It does this by applying an electrostatic
force to actuate each of the three X, Y, and Z axis of the
gyroscope and measures the mechanical response on
the corresponding X, Y, and Z axis. If the equivalent
magnitude of the output is greater than 300 dps for each
axis then we can assume that the gyroscope is
functional within acceptable parameters. The gyroscope
Self Test data is available to be read at output registers
dVX_L, dVX_H, dVY_L, dVY_H, dVZ_L & dVZ_H.
The Host can initiate the self test at anytime by using
the following procedure.
Procedure for gyroscope Self Test:
1. Set CTRL7 reg. to 0x00;
2. Wait 1 msec
3. Set CTRL3 to 0x38 (gFS = 7, gODR= 0) (full scale
= 4096 dps)
4. Wait 1 msec
5. Set CTRL3 register to 0x78. This enables gST
(gyroscope Self Test enable bit).
6. Wait for the device to drive INT2 high.
7. Read DVX_L, DVX_H, DVY_ L, DVY_H, DVZ_L &
DVZ_H registers for the self test Data.
8. Set CTRL3 register to 0x38 to disable gST.
9. INT2 will be pulled low by device.
10. Set CTRL3 register to 0x00 ( back to default value
at power up)
11. Based on the data the host processor determines
if the gyroscope response is greater or equal to
300 dps.
12. If “yes” then the gyroscope Self Test has passed.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 45
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
10 Magnetometer Setup
10.1 Magnetometer Description
The FIS1100 provides an I2C master interface to
connect with an external magnetometer. Currently the
FIS1100 offers support for an AKM AK8975
magnetometer (see Figure 3). The FIS1100 supports
the AK8975 in the 31.25 Hz Output Data Rate (ODR)
mode only.
The FIS1100 is used to:
1. Calibrate the magnetometer data as per the
equations described below and to time align
magnetometer samples with the gyroscope and
accelerometer samples.
2. When FIS1100 is used in the AttitudeEngine (AE)
mode the magnetometer data along with the
accelerometer and gyroscope data is fused to
generate the AE data and is available to the host at
a significantly reduced ODR without loss of
accuracy.
10.2 Magnetometer Calibration
The raw data from the magnetometer is calibrated as
per the follow equations. Values for the different S, K,
O, and R variables are provided in the FIS1100 SDK
sample code.
Mx = STG(SxMxr + Ox + KxyMyr + KxzMzr)
My = STG(SyMyr + Oy + KyxMxr + KyzMzr)
Mz = STG(SzMzr + Oz + KzxMxr + KzyMyr)
where
Mxr, Myr, Mzr are the available uncalibrated (raw)
magnetometer values from AK8975.
Mx, My, Mz are the calibrated values available in the
magnetometer output register.
Sx ,Sy, Sz are the scale factors
Ox,Oy, Oz are the offsets
Kxy, Kxz, y and z cross axis scale factor for Mx
Kyx, Kyz, x and z cross axis scale factor for My
Kzx, Kzy, x and y cross axis scale factor for Mz
STG is a conversion factor to convert from micro-Tesla
format to Gauss format. STG = 1.536
The S, O, and K values are provided by the user as the
SKOR values
SKOR_X -> {Sx, Ox, Kxy, Kxz}
SKOR_Y -> {Sy, Oy, Kyx, Kyz}
SKOR_Z -> {Sz, Oz, Kzx, Kzy}
Table 36. Magnetometer Scale and Sensitivity
Settings
SKOR
Scale
Setting
Sensitivity
Unit
Scale
+8
8192
lsb/unit
Offset
±16
2048
lsb/unit
Skew1
±4
8192
lsb/unit
Skew2
±4
8192
lsb/unit
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 46
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
11 Host Serial Interface
FIS1100 Host Serial Interface supports I2C and SPI
slave interfaces. For SPI, it supports both 3-wire and 4-
wire modes. The basic timing characteristics for each
interface are described below. Through the FIS1100
Host Serial Interface, the host can access, setup and
control the FIS1100 Configuration Registers (see Table
25).
11.1 Serial Peripheral Interface (SPI)
FIS1100 supports both 3- and 4-wire modes in the SPI
slave interface. The SPI 4-wire mode uses two control
lines (CS, SPC) and two data lines (SDI, SDO). The SPI
3-wire mode uses the same control lines and one bi-
directional data line (SDIO). The SDI /SDIO pin is used
for both 3- and 4-wire modes and is configured based
on the mode selected. The SPI interface has been
validated at 10 MHz and the timing parameters are
measured at that interface frequency.
SPI 3- or 4-wire modes are configured by writing to bit-7
of CTRL1 register. 3-wire mode is selected when bit-7 is
1. The default configuration is 4-wire mode, i.e. bit-7 of
CTRL1 is 0.
Figure 12 shows the SPI address and data formats.
SPI Features
Data is latched on the rising edge of the clock
Data should change on falling edge of clock
Maximum frequency is 10 MHz
Data is delivered MSB first
Support single read/writes and multi cycle (Burst)
read/writes. NOTE: burst writes to Configuration
registers are NOT supported. These registers
should be written in single cycle mode only.
Supports 6-bit Address format and 8-bit data format
Figure 12. SPI Address and Data Form
In a single cycle read or write transaction, the inc
address bit should be set to 0. During a burst read, the
master indicates to the slave that the master expects
data from the incremented address locations during a
read by setting inc to 1. During a burst write, if the inc bit
is set to 1, the master indicates to the slave that it is
providing data from incremented address locations.
Similarly, when the inc bit is set to 0, the master
indicates that data is expected from or is available from
the same address respectively during a burst read or
write cycle.
Figure 13. Typical SPI 4-Wire Multi-Slave
Figure 14. Typical SPI 3-Wire Multi-Slave
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 47
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
In a typical SPI Master/Slave configuration the SPI
master shares the SPI clock (SPC), the serial data input
(SDI), and the Serial Data Output (SDO) with all the
connected SPI slaves devices. Unique Chip Select (CS)
lines connect each SPI slave to the master.
Figure 13 and Figure 14 show typical multi-slave 4- and
3-wire configurations. The primary difference between
the two configurations is that the SDI and SDO lines are
replaced by the bi-directional SDIO line. The SDIO line
is driven by the master with both address and data
when it is configured for write mode. During read mode,
the SDIO line is driven by the master with the address,
and subsequently driven by the “addressed” slave with
data.
Figure 15 and Figure 16 illustrate the waveforms for
both 4-wire and 3-wire SPI read and write transactions.
Note that CS is active during the entire transaction.
Figure 15. SPI 4-Wire Single Byte Read and Write
Figure 16. SPI 4-Wire Multi-Byte Read and Write Transactions
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 48
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Figure 17. SPI 3-Wire Single Byte Read and Write Transactions
Figure 18. SPI 3-Wire Multi-Byte Read and Write Transactions
CS
SPC
SPI 3-wire Single Byte Read and Write
Read inc A5 A4 A3 A1 A0 D7 D6 D5 D4 D3 D2 D1 D0A2
SDIO
1 0
1 1
READ INC
Single Read
0 0
0 1
Burst Read
Single Write
Burst Write
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 49
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
11.1.1 SPI Timing Characteristics
The typical operating conditions for the SPI interface are provided in Table 37
VDDd = 1.8 V, T = 25°C unless otherwise noted.
Table 37. SPI Interface Timing Characteristics
Symbol
Parameter
Min.
Max.
Unit
tSPC
SPI Clock Cycle
100
ns
fSPC
SPI Clock Frequency
10
MHz
tsCS
CS Setup Time
6
ns
thCS
CS Hold Time
8
ns
tsSDI
SDI Input Setup Time
5
ns
thSDI
SDI Input Hold Time
15
ns
tvSDO
SDO Time for Valid Output
50
ns
thSDO
SDO Hold Time for Output
9
ns
tdSDO
SDO Disable Time for Output
50
ns
tsSDIO
SDIO Address Setup Time
5
ns
thSDIO
SDIO Address Hold Time
15
ns
tvSDIO
SDIO Time for Valid Data
50
ns
tczSDIO
SDIO Time from SPC to High Z
50
ns
tzSDIO
SDIO Time from CS to High Z
50
ns
Figure 19. Timing Characteristics for SPI 3- and 4-Wire Interfaces
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 50
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
11.2 I2C Interface
Table 38 provides the I2C interface timing characteristics
while Figure 20 and Figure 21 illustrate the I2C timing for
both fast and standard modes, respectively.
During the slave device selection phase, the I2C master
supplies the 7-bit I2C slave device address to enable the
FIS1100. The 7-bit device address for the FIS1100 is
0x6a (0b1101010) if SA0 is left unconnected, internally
there is a weak pull-down of 200 k thereby selecting
bit-0=0. In case of a slave device ID conflict, SA0 may
be used to change bit-0 of the device address. When
SA0 is pulled up externally, the 7-bit device address
becomes 0x6b (0b1101011).
During the slave register address phase bit-7 of the
address is used to enable auto-increment of the target
address. When bit-7 is set to 1 the target address is
automatically incremented by one.
For additional technical details about the I2C standard,
such as pull-up resistor sizing the user is referred to
“UM10204 I2C-bus specification and user manual”
published by NXP B.V.
Table 38. I2C Timing Characteristics
Symbol
Parameter
Conditions
Min.
Typ.
Max.
Unit
fSCL
SCL Clock Frequency
Standard Mode
100
kHz
Fast Mode
400
tBUF
Bus-Free Time between STOP and
START Conditions
Standard Mode
4700
ns
Fast Mode
1300
tHD;STA
START or Repeated START Hold Time
Standard Mode
4000
ns
Fast Mode
600
tLOW
SCL LOW Period
Standard Mode
4700
ns
Fast Mode
1300
tHIGH
SCL HIGH Period
Standard Mode
4000
ns
Fast Mode
600
tSU;STA
Repeated START Setup Time
Standard Mode
4700
ns
Fast Mode
600
tSU;DAT
Data Setup Time
Standard Mode
250
ns
Fast Mode
100
tHD;DAT
Data Hold Time
Standard Mode
0
3450
ns
Fast Mode
0
900
tRCL, tR
SCL Rise Time
Standard Mode
1000
ns
Fast Mode
20 + 0.1 * CB(16)
300
tFCL
SCL Fall Time
Standard Mode
300
ns
Fast Mode
20 + 0.1 * CB(16)
300
tRDA, tRCL1
SDA Rise Time.
Rise Time of SCL after a Repeated
START Condition and after ACK Bit
Standard Mode
1000
ns
Fast Mode
20 + 0.1 * CB(16)
300
tFDA
SDA Fall Time
Standard Mode
300
ns
Fast Mode
20 + 0.1 * CB(16)
300
tSU;STO
Stop Condition Setup Time
Standard Mode
4000
ns
Fast Mode
600
Note:
16. CB is the bus capacitance.
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 51
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
Figure 20. I2C Standard Mode Interface Timing
Figure 21. I2C Fast Mode Interface Timing
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 52
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
12 Package and Handling
12.1 Package Drawing
Figure 22. 16 Pin LGA 3.3 x 3.3 x 1 mm Package
3.40
(2.18)
0.32(16x)
0.61(16X)
0.50
58
4
1
9
12
13
16
(0.25) (1.50)
BOTTOM VIEW
TOP VIEW
SIDE VIEW
NOTES:
A. JEDEC PUBLICATION 95 DESIGN REGISTRATION
4.25 ISSUE A, EXCEPT FOR BODY SIZE
INCREMENT RULE APPLIES TO THIS PACKAGE.
B. DIMENSIONS ARE IN MILLIMETERS.
C. DIMENSIONS AND TOLERANCES PER
ASME Y14.5M, 1994.
D. LAND PATTERN RECOMMENDATION IS
BASED ON FSC DESIGN ONLY.
E. DRAWING FILENAME: MKT-LGA16Arev2.
F. FAIRCHILD SEMICONDUCTOR.
AB
RECOMMENDED LAND PATTERN
0.10 C
0.08 C
3.30
3.30
0.10 C
2X
2X
SEATING
PLANE
0.10 C
PIN #1
IDENT
0.10 C A B
0.08 C
PIN#1
IDENT
112
5 6 7 8
2
3
4
13
11
10
9
141516
0.10 C A B
0.08 C
0.15
0.05(4X)
1.50
1.50
0.50
DETAIL A
0.45
0.35(16X)
0.35
0.25(16X)
0.55
0.45
DETAIL A
C
INSULATION
METALLIZED
PAD
1.00 MAX. 0.95
0.05
(0.10)
0.55
0.45
Do not solder center tab
© 2015 Fairchild Semiconductor Corporation www.fairchildsemi.com
FIS1100 • Rev. 1.2 53
FIS1100 — 6D Inertial Measurement Unit with Motion Co-Processor
12.2 Reflow Specification
Figure 23. Reflow Profile
12.3 Storage Specifications
FIS1100 storage specification conforms to IPC/JEDEC J-STD-020D.01 Moisture Sensitivity Level (MSL) 3.
Floor life after opening the moisture-sealed bag is 168 hours with storage conditions: Temperature: ambient to ≤30°C
and Relative Humidity: 60%RH.
13 Related Resources
AN-5083 — Low Power Motion Co-Processor for High Accuracy Tracking Applications
AN-5084 — XKF3 Low-Power, Optimal Estimation of 3D Orientation using Inertial and Magnetic Sensing
AN-5085 — FIS1100 Board Level Calibration
3.40
(2.18)
0.32(16x)
0.61(16X)
0.50
58
4
1
9
12
13
16
(0.25) (1.50)
BOTTOM VIEW
TOP VIEW
SIDE VIEW
NOTES:
A. JEDEC PUBLICATION 95 DESIGN REGISTRATION
4.25 ISSUE A, EXCEPT FOR BODY SIZE
INCREMENT RULE APPLIES TO THIS PACKAGE.
B. DIMENSIONS ARE IN MILLIMETERS.
C. DIMENSIONS AND TOLERANCES PER
ASME Y14.5M, 1994.
D. LAND PATTERN RECOMMENDATION IS
BASED ON FSC DESIGN ONLY.
E. DRAWING FILENAME: MKT-LGA16Arev2.
F. FAIRCHILD SEMICONDUCTOR.
AB
RECOMMENDED LAND PATTERN
0.10 C
0.08 C
3.30
3.30
0.10 C
2X
2X
SEATING
PLANE
0.10 C
PIN #1
IDENT
0.10 C A B
0.08 C
PIN#1
IDENT
112
5 6 7 8
2
3
4
13
11
10
9
141516
0.10 C A B
0.08 C
0.15
0.05(4X)
1.50
1.50
0.50
DETAIL A
0.45
0.35(16X)
0.35
0.25(16X)
0.55
0.45
DETAIL A
C
INSULATION
METALLIZED
PAD
1.00 MAX. 0.95
0.05
(0.10)
0.55
0.45
Do not solder center tab
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