FIS1100

FIS1100 Datasheet

FIS1100 6D Inertial Measurement Unit with Motion Co-Processor

Part	Datasheet
FIS1100	FIS1100 (pdf)

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FIS1100 6D Inertial Measurement Unit with Motion Co-Processor July 2016 FIS1100 6D Inertial Measurement Unit with Motion CoProcessor and Sensor Fusion Library • 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 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 Accelerometer and 10 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 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 3axis 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. • Drone Flight Control and Gimbal Stabilization • Optical Image Stabilization OIS and Electrical Image Stabilization EIS • Virtual Reality and Augmented Reality • Robotic Orientation and Position Tracking • Sport & Fitness Wearables • Pedestrian Navigation and GNSS Augmentation FIS1100 6D Inertial Measurement Unit with Motion Co-Processor Table of Contents 1 General Information 4 Ordering Information Marking Internal Block Application Diagram Package & Pin Information Recommended External Components 2 FIS1100 Architecture 8 AttitudeEngine Mode Overview Advantages of the Attitude Engine 9D Sensor Fusion and Auto-Calibration using XKF3 Frames of Reference and Conventions for Using 3 System, Electrical and Electro-Mechanical 11 Absolute Maximum Ratings Recommended Operating Conditions System Level Specifications Electro-Mechanical Accelerometer Programmable Gyroscope Programmable Electrical Current 16 Temperature Sensor 4 Register Map Overview 18 5 Sensor Configuration Settings and Output Data 20 Typical Sensor Mode Configuration and Output AttitudeEngine Mode Configuration and Output General Purpose Register Configuration Registers Status and Count Sensor Data Output CTRL 9 Functionality Executing Pre-defined Commands CTRL 9 Description 30 WCtrl9 Write CTRL9 30 Ctrl9R CTRL9 Protocol - 31 Ctrl9 Protocol Acknowledge 31 CTRL9 Commands in Detail 32 Interrupts Interrupt 1 INT1 34 Interrupt 2 INT2 34 6 Operating Modes 35 General Mode Transitioning Transition Times 7 FIFO 39 Using the FIFO FIFO Register Description 2015 Fairchild Semiconductor Corporation FIS1100 6D Inertial Measurement Unit with Motion Co-Processor 8 Wake On Motion WoM 42 Wake on Motion Introduction Accelerometer Configuration Wake on Motion Event Configuration Procedure Wake on Motion Control Registers Exiting Wake on Motion Mode 9 Performing Device Self 44 Accelerometer Self Test Gyroscope Self 10 Magnetometer Setup 45 Magnetometer Description Magnetometer Calibration 11 Host Serial 46 Serial Peripheral Interface SPI Timing Characteristics 49 I2C 12 Package and Handling 52 Package Drawing Reflow Storage Specifications 13 Related 53 2015 Fairchild Semiconductor Corporation FIS1100 6D Inertial Measurement Unit with Motion Co-Processor 1 General Information Ordering Information Table Ordering Information Part Number FIS1100 Package LGA16 Marking Information Assembly Plant Code Year Code Week Code Packing Method Tape & Reel ZXYKK FIS1100 Lot Code Device Name Pin 1 Identifier Internal Block Diagram Figure Top Mark Figure Internal Block Diagram FIS1100 6D Inertial Measurement Unit with Motion Co-Processor Application Diagram NC A4 RSV A3 SCL D4 SDA AK8975C 10kΩ NC A1 TST1 NC C2 TST2 NC B3 TST6 CSB SO DRDY A2 B4 NC C3 NC VID VDD C4 B1 VSS CAD0CAD1 C1 D1 D2 100nF 100nF 7 6 SCL2 SDA2 SPC 14 CS 10 SDI 13 FIS1100 10kΩ NC 5 RESV1 SDO 9 RESV2 RESV3 RST 16 INT1 12 INT2 11 VDDVDDDA GND 100nF 100nF PUBLICATION ORDERING INFORMATION LITERATURE FULFILLMENT Literature Distribution Center for ON Semiconductor 19521 E. 32nd Pkwy, Aurora, Colorado 80011 USA Phone 303−675−2175 or 800−344−3860 Toll Free USA/Canada Fax 303−675−2176 or 800−344−3867 Toll Free USA/Canada Email: Semiconductor Components Industries, LLC N. American Technical Support 800−282−9855 Toll Free USA/Canada Europe, Middle East and Africa Technical Support Phone 421 33 790 2910 Japan Customer Focus Center Phone 81−3−5817−1050 ON Semiconductor Website Order Literature For additional information, please contact your local Sales Representative

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FIS1100 6D Inertial Measurement Unit with Motion Co-Processor

July 2016

FIS1100 6D Inertial Measurement Unit with Motion CoProcessor and Sensor Fusion Library
• 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 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 Accelerometer and
10 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

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 3axis 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.
• Drone Flight Control and Gimbal Stabilization
• Optical Image Stabilization OIS and Electrical

Image Stabilization EIS
• Virtual Reality and Augmented Reality
• Robotic Orientation and Position Tracking
• Sport & Fitness Wearables
• Pedestrian Navigation and GNSS Augmentation

FIS1100 6D Inertial Measurement Unit with Motion Co-Processor

Table of Contents
1 General Information 4 Ordering Information Marking Internal Block Application Diagram Package & Pin Information Recommended External Components
2 FIS1100 Architecture 8 AttitudeEngine Mode Overview Advantages of the Attitude Engine 9D Sensor Fusion and Auto-Calibration using XKF3 Frames of Reference and Conventions for Using
3 System, Electrical and Electro-Mechanical 11 Absolute Maximum Ratings Recommended Operating Conditions System Level Specifications Electro-Mechanical Accelerometer Programmable Gyroscope Programmable Electrical Current 16 Temperature Sensor
4 Register Map Overview 18
5 Sensor Configuration Settings and Output Data 20 Typical Sensor Mode Configuration and Output AttitudeEngine Mode Configuration and Output General Purpose Register Configuration Registers Status and Count Sensor Data Output CTRL 9 Functionality Executing Pre-defined Commands CTRL 9 Description 30 WCtrl9 Write CTRL9 30 Ctrl9R CTRL9 Protocol - 31 Ctrl9 Protocol Acknowledge 31 CTRL9 Commands in Detail 32 Interrupts Interrupt 1 INT1 34 Interrupt 2 INT2 34
6 Operating Modes 35 General Mode Transitioning Transition Times
7 FIFO 39

Using the FIFO

FIFO Register Description
2015 Fairchild Semiconductor Corporation

FIS1100 6D Inertial Measurement Unit with Motion Co-Processor
8 Wake On Motion WoM 42 Wake on Motion Introduction Accelerometer Configuration Wake on Motion Event Configuration Procedure Wake on Motion Control Registers Exiting Wake on Motion Mode
9 Performing Device Self 44 Accelerometer Self Test Gyroscope Self
10 Magnetometer Setup 45 Magnetometer Description Magnetometer Calibration
11 Host Serial 46 Serial Peripheral Interface SPI Timing Characteristics 49 I2C
12 Package and Handling 52 Package Drawing Reflow Storage Specifications
13 Related 53
2015 Fairchild Semiconductor Corporation

FIS1100 6D Inertial Measurement Unit with Motion Co-Processor
1 General Information
Ordering Information
Table Ordering Information

Part Number FIS1100

Package LGA16

Marking Information

Assembly Plant Code

Year Code

Week Code

Packing Method Tape & Reel

ZXYKK

FIS1100

Lot Code Device Name

Pin 1 Identifier

Internal Block Diagram

Figure Top Mark

Figure Internal Block Diagram

FIS1100 6D Inertial Measurement Unit with Motion Co-Processor

Application Diagram

NC A4 RSV

A3 SCL D4 SDA

AK8975C
10kΩ

NC A1 TST1 NC C2 TST2 NC B3 TST6

CSB SO DRDY

A2 B4 NC C3 NC

VID VDD C4 B1

VSS CAD0CAD1 C1 D1 D2
100nF
100nF
7 6 SCL2

SDA2

SPC 14 CS 10

SDI 13

FIS1100 10kΩ NC 5 RESV1

SDO 9

RESV2

RESV3

RST 16 INT1 12

INT2 11

VDDVDDDA GND
100nF
100nF
PUBLICATION ORDERING INFORMATION

LITERATURE FULFILLMENT Literature Distribution Center for ON Semiconductor 19521 E. 32nd Pkwy, Aurora, Colorado 80011 USA Phone 303−675−2175 or 800−344−3860 Toll Free USA/Canada Fax 303−675−2176 or 800−344−3867 Toll Free USA/Canada Email:

Semiconductor Components Industries, LLC

N. American Technical Support 800−282−9855 Toll Free USA/Canada

Europe, Middle East and Africa Technical Support Phone 421 33 790 2910

Japan Customer Focus Center Phone 81−3−5817−1050

ON Semiconductor Website Order Literature For additional information, please contact your local Sales Representative

Notice: we do not provide any warranties that information, datasheets, application notes, circuit diagrams, or software stored on this website are up-to-date or error free. The archived FIS1100 Datasheet file may be downloaded here without warranties.

Datasheet ID: FIS1100 514686