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QMI8610六轴规格书,适合开发使用
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QMI8610是一款完整的6D MEMS惯性测量单元(IMU),采用小型3.3 x 3.3 x 1 mm LGA封装。QMI8610在产品性能上具有低至6 mdps /√Hz的陀螺仪噪声和低延迟。QMI8610集成了3轴陀螺仪和3轴加速度计,可通过I2C/SPI主机连接外部3轴磁传感器,从而形成完整的9DOF系统。
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Low Noise, Wide Bandwidth 6D Inertial
Measurement Unit with Motion Co-Processor
and Sensor Fusion
QMI8610
Advanced Information
Features
Low 6 mdps/√Hz Gyroscope Noise and
Low-Latency, Wide Bandwidth for Drone Flight
Control and Gimbal Stabilization
Low Noise 50 µg/√Hz accelerometer
Complete Inertial Measurement Unit (IMU) with
Sensor Fusion Library with Specified Orientation
Accuracy of ±3º Pitch and Roll, ±5º Yaw/Heading
High-performance XKF3 6/9-axis sensor fusion
with in-run calibration for correction of gyro bias
drift over-temperature and lifetime
3-Axis Gyroscope and 3-Axis Accelerometer in a
Small 3.3 x 3.3 x 1 mm LGA Package
Integrated AttitudeEngine
TM
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
UniqueChipID (UID) for Serialization of Parts
Large 1536 Byte FIFO can be used to Buffer 9DOF
Sensor Data to Lower System Power Dissipation
Motion on Demand Technology for Polling Based
Synchronization
Large Dynamic Range from ±32°/s to ±2,560°/s
and ±2 g to ±16 g
Low Power and Warm-Start Modes for Effective
Power Management
Digitally Programmable Sampling Rate and Filters
Host Serial Interface Supporting I
2
C or SPI
I
2
C Master for Interfacing External Magnetometer
Embedded Temperature Sensor
Wide Extended Operating Temperature Range
(-40°C to 85°C)
Description
QMI8610 is a complete 6D MEMS Inertial
Measurement Unit (IMU) with 9-axis sensor fusion and
specified system level orientation accuracy. When
using the QMI8610 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 QMI8610 is ideal for drone flight control and
gimbal stabilization. It features a low 6 mdps/√Hz
gyroscope noise and a low latency.
The QMI8610 incorporates a 3-axis Gyroscope and a
3-axis Accelerometer and can connect an external
3-axis magnetometer through an I
2
C master thus
forming a complete 9DOF system.
The QMI8610 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
矽睿
QMI8610
Datasheet
Rev: A
The information contained herein is the exclusive property of QST, and shall not be distributed, reproduced, or
disclosed in whole or in part without prior written permission of QST.
2 / 81
CONTENTS
CONTENTS ............................................................................................................................................................................... 2
1 General Information ........................................................................................................................................................... 4
1.1 Ordering Information ........................................................................................................................................................ 4
1.2 Marking Information ......................................................................................................................................................... 4
1.3 Internal Block Diagram ..................................................................................................................................................... 4
1.4 Application Diagrams ....................................................................................................................................................... 5
1.5 Package & Pin Information ............................................................................................................................................... 6
1.6 Recommended External Components .............................................................................................................................. 8
2 QMI8610 Architecture ...................................................................................................................................................... 9
2.1 AttitudeEngine Mode Overview ..................................................................................................................................... 10
2.2 Advantages of the Attitude Engine Approach ................................................................................................................. 11
2.3 9D Sensor Fusion and Auto-Calibration using XKF3 .................................................................................................... 11
2.4 Frames of Reference and Conventions for Using QMI8610 ........................................................................................... 12
3 System, Electrical and Electro-Mechanical Characteristics ............................................................................................ 13
3.1 Absolute Maximum Ratings ........................................................................................................................................... 13
3.2 Recommended Operating Conditions ............................................................................................................................. 14
3.3 System Level Specifications ........................................................................................................................................... 15
3.4 Electro-Mechanical Specifications ................................................................................................................................. 16
3.5 Accelerometer Programmable Characteristics ................................................................................................................ 19
3.6 Gyroscope Programmable Characteristics ...................................................................................................................... 20
3.7 Electrical Characteristics ................................................................................................................................................ 21
3.8 Temperature Sensor ........................................................................................................................................................ 24
4 Register Map Overview .................................................................................................................................................. 25
5 Sensor Configuration Settings and Output Data ............................................................................................................. 29
5.1 Typical Sensor Mode Configuration and Output Data .................................................................................................... 29
5.2 AttitudeEngine Mode Configuration and Output Data ................................................................................................... 30
5.3 General Purpose Register ................................................................................................................................................ 31
5.4 Configuration Registers .................................................................................................................................................. 31
5.5 Status and Count Registers ............................................................................................................................................. 38
5.6 Sensor Data Output Registers ......................................................................................................................................... 39
5.7 CTRL 9 Functionality (Executing Pre-defined Commands) ........................................................................................... 44
5.8 Interrupts ......................................................................................................................................................................... 50
矽睿
QMI8610
Datasheet
Rev: A
The information contained herein is the exclusive property of QST, and shall not be distributed, reproduced, or
disclosed in whole or in part without prior written permission of QST.
3 / 81
6 Operating Modes ............................................................................................................................................................. 53
6.1 General Mode Transitioning ........................................................................................................................................... 57
6.2 Transition Times ............................................................................................................................................................. 57
7 FIFO Description ............................................................................................................................................................ 58
7.1 Using the FIFO ............................................................................................................................................................... 58
7.2 FIFO Register Description .............................................................................................................................................. 60
8 Wake On Motion (WoM) ................................................................................................................................................ 63
8.1 Wake on Motion Introduction ......................................................................................................................................... 63
8.2 Accelerometer Configuration .......................................................................................................................................... 64
8.3 Wake on Motion Event ................................................................................................................................................... 65
8.4 Configuration Procedure ................................................................................................................................................. 65
8.5 Wake on Motion Control Registers ................................................................................................................................ 66
8.6 Exiting Wake on Motion Mode ...................................................................................................................................... 67
9 Performing Device Self Test ........................................................................................................................................... 67
9.1 Accelerometer Self Test .................................................................................................................................................. 67
9.2 Gyroscope Self Test ........................................................................................................................................................ 68
10 Host Serial Interface ....................................................................................................................................................... 68
10.1 Serial Peripheral Interface (SPI) ................................................................................................................................... 68
10.2 I
2
C Interface .................................................................................................................................................................. 74
11 Package and Handling..................................................................................................................................................... 78
11.1 Package Drawing .......................................................................................................................................................... 78
11.2 Reflow Specification ..................................................................................................................................................... 79
11.3 Storage Specifications ................................................................................................................................................... 80
12 Related Resources ........................................................................................................................................................... 80
矽睿
QMI8610
Datasheet
Rev: A
The information contained herein is the exclusive property of QST, and shall not be distributed, reproduced, or
disclosed in whole or in part without prior written permission of QST.
4 / 81
1 General Information
1.1 Ordering Information
Table 1. Ordering Information
Part Number
Package
Packing Method
QMI8610
LGA16
Tape & Reel
1.2 Marking Information
Figure 1. Top Mark
1.3 Internal Block Diagram
矽睿
QMI8610
Datasheet
Rev: A
The information contained herein is the exclusive property of QST, and shall not be distributed, reproduced, or
disclosed in whole or in part without prior written permission of QST.
5 / 81
Figure 2. Internal Block Diagram
1.4 Application Diagrams
MCU
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