Freescale Semiconductor, Inc.
Data Sheet: Technical Data
FXAS21002C
Rev. 2.1, 5/2015
3-Axis Digital Angular Rate
Gyroscope
FXAS21002C is a small, low-power, yaw, pitch, and roll angular
rate gyroscope with 16 bit ADC resolution. The full-scale range is
adjustable from ±250°/s to ±2000°/s. It features both I
2
C and SPI
interfaces.
FXAS21002C is capable of measuring angular rates up to
±2000°/s, with output data rates (ODR) from 12.5 to 800 Hz. An
integrated Low-Pass Filter (LPF) allows the host application to
limit the digital signal bandwidth. The device may be configured
to generate an interrupt when a user-programmable angular rate
threshold is crossed on any one of the enabled axes.
FXAS21002C is available in a plastic, 24-lead QFN package; the
device is guaranteed to operate over the extended temperature
range of –40 °C to +85 °C.
Features
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FXAS21002C
24 QFN
4 mm x 4 mm x 1 mm
Case 2209-01
Top View
RSVD_GND
RSVD_GND
RSVD_GND
RSVD_GND
21
Supply voltage (V
DD
) from 1.95 V to 3.6 V
2
18
V
DDIO
Interface Supply voltage (V
DDIO
) from 1.62 V to V
DD
+ 0.3 V
17
SPI_CS_B
INT1
3
16-bit digital output resolution
16
VREGD
RST_B
4
±250/500/1000/2000°/s configurable full-scale dynamic
15
V
DD
GND2
5
ranges
14
GND3
RSVD_GND
6
Full-Scale Range boost function enables FSR's up to
13
SA0 /
RSVD_GND
7
±4000 dps
9
10
8
11
12
MISO
Angular rate sensitivity of 0.0625°/s in ±2000°/s FSR mode
Noise spectral density of 25 mdps/√Hz at 64 Hz bandwidth
(200 Hz ODR)
Current consumption in Active mode is 2.7 mA
Fast transition from Standby to Active mode (60 ms)
Pin Connections
Supported digital interfaces include:
• I
2
C Standard and Fast Mode (100/400 kHz)
• SPI Interface (3- and 4-wire modes, up to 2 MHz)
FIFO buffer is 192 bytes (32 X/Y/Z samples) with stop and circular operating modes
Output Data Rates (ODR) from 12.5 to 800 Hz; programmable low-pass filter to further limit digital output
data bandwidth
Low power standby mode
Power mode transition control via external pin for accelerometer-based power management (motion
interrupt)
Rate Threshold interrupt function
Integrated self-test function
8-bit temperature sensor
I
2
C_B / SPI
RSVD_GND
RSVD_GND
SCL / SCLK
SDA / MOSI
/ SPI_DATA
GND1
INT2 /
PWR_CTRL
24
1
23
22
RSVD_GND
20
19
GND4
© 2014-2015 Freescale Semiconductor, Inc. All rights reserved.
Typical Applications
• Industrial and consumer grade robots, UAVs, and RC vehicles
• Game controller
• Gyro-stabilized electronic compass
• Orientation determination
• Gesture-based user interfaces and Human Machine Interface (HMI)
• Indoor navigation
• Mobile phones and tablets
• Virtual and augmented reality devices (including glasses)
Ordering Information
Part Number
FXAS21002CQR1
Temperature Range
–40 °C to +85 °C
Package Description
QFN
Shipping
Tape and reel (1 k)
Related Documentation
The FXAS21002C device features and operations are described in a variety of reference manuals, user guides,
and application notes. To find the most-current versions of these documents, go to freescale.com/
FXAS21002C, and then click on the Documentation tab.
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Freescale Semiconductor, Inc.
3-Axis Digital Angular Rate Gyroscope, Rev. 2.1, 5/2015
Table of Contents
1 General Description.............................................................. 4
1.1 Block Diagram............................................................. 4
1.2 Pinout...........................................................................4
System Connections....................................................5
1.3.1 Typical Application Circuit—I2C Mode.............5
1.3.2 Typical Application Circuit—SPI Mode............ 6
1.4 Sensitive Axes Orientations and Polarities.................. 7
2 Mechanical and Electrical Specifications.............................. 8
2.1 Absolute Maximum Ratings......................................... 8
2.2 Operating Conditions................................................... 9
2.3 Mechanical Characteristics..........................................9
2.4 Electrical Characteristics............................................. 10
2.5 Temperature Sensor Characteristics........................... 11
3 Digital Interfaces................................................................... 12
3.1 I²C Interface................................................................. 12
3.1.1 I²C Operation................................................... 14
3.1.2 I²C Read Operations........................................ 15
3.1.3 I²C Write Operations........................................ 15
3.2 SPI Interface................................................................ 17
3.2.1 General SPI Operation.................................... 17
3.2.2 SPI Write Operations with 3- and 4-Wire
Modes.............................................................. 18
3.2.3 SPI Read Operations with 4-Wire Mode.......... 20
3.2.4 SPI Read Operations with 3-Wire Mode.......... 21
3.2.5 SPI Timing Specifications (4-wire mode)......... 21
3.2.6 SPI Timing Specifications (3-wire mode)......... 23
4 Modes of Operation...............................................................24
5 Functionality.......................................................................... 26
5.1 FIFO Data Buffer......................................................... 27
5.2 Rate Threshold Detection Function............................. 28
1.3
6 Register Descriptions............................................................ 30
6.1 0x00: STATUS.............................................................30
6.2 0x01–0x06: OUT_X_MSB, OUT_X_LSB,
OUT_Y_MSB, OUT_Y_LSB, OUT_Z_MSB,
OUT_Z_LSB................................................................ 31
6.3 0x07: DR_STATUS......................................................33
6.4 0x08: F_STATUS.........................................................35
6.5 0x09: F_SETUP...........................................................35
6.6 0x0A: F_EVENT.......................................................... 36
6.7 0x0B: INT_SOURCE_FLAG........................................ 37
6.8 0x0C: WHO_AM_I....................................................... 38
6.9 0x0D: CTRL_REG0..................................................... 38
6.10 0x0E: RT_CFG............................................................ 40
6.11 0x0F: RT_SRC............................................................ 41
6.12 0x10: RT_THS............................................................. 43
6.13 0x11: RT_COUNT....................................................... 44
6.14 0x12: TEMP................................................................. 44
6.15 0x13: CTRL_REG1......................................................45
6.16 0x14: CTRL_REG2......................................................47
6.17 0x15:CTRL_REG3.......................................................48
7 Printed Circuit Board Layout and Device Mounting.............. 50
7.1 Printed Circuit Board Layout........................................50
7.2 Overview of Soldering Considerations.........................51
7.3 Halogen Content..........................................................52
8 Package Information............................................................. 52
8.1 Product Identification Markings....................................52
8.2 Tape and Reel Information.......................................... 52
8.3 Package Description....................................................53
9 Revision History.................................................................... 55
3-Axis Digital Angular Rate Gyroscope, Rev. 2.1, 5/2015
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Freescale Semiconductor, Inc.
General Description
1 General Description
1.1 Block Diagram
Charge
Pump
Drive Z
Drive X/Y
Self-Test
Programmable
32 Sample
FIFO
Buffer
Configuration
and Control
Registers
Ω
x,y,z
X+
Y+
Z+
Fd
Temperature
Sensor
Digital
Signal
Processing
X/Y Vibrating
Mass
Z Vibrating
Mass
MUX
C2V
LPF
Angular Rate
Demod
Gain
AAF
MUX
ADC-16
X-
Y-
Z-
Voltage References
and Regulators
Oscillators,
Clock
Generator
NVM,
Trim Logic
Digital I/O
I
2
C/SPI Interface
VDDIO
GND
VDD
INT
1
INT
2
/
SPI/I
2
C_B
PWR_CTRL
SCL/SCLK SDA/MOSI/ SA0/MISO
SPI_DATA
SPI_CS_B RST_B
Figure 1. Block Diagram
1.2 Pinout
RSVD_GND
RSVD_GND
RSVD_GND
RSVD_GND
21
GND1
INT2 /
PWR_CTRL
INT1
RST_B
GND2
RSVD_GND
RSVD_GND
24
1
2
3
4
5
6
7
8
23
22
RSVD_GND
20
19
18
17
16
15
14
13
GND4
V
DDIO
SPI_CS_B
VREGD
V
DD
GND3
SA0 /
MISO
9
10
11
12
I
2
C_B / SPI
RSVD_GND
RSVD_GND
SCL / SCLK
Figure 2. Device pinout (top view)
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Freescale Semiconductor, Inc.
3-Axis Digital Angular Rate Gyroscope, Rev. 2.1, 5/2015
SDA / MOSI
/ SPI_DATA
General Description
Table 1. Pin functions
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
Name
GND1
INT2 / PWR_CTRL
1
INT1
RST_B
GND2
RSVD_GND
RSVD_GND
I
2
C_B / SPI
RSVD_GND
RSVD_GND
SCL/SCLK
SA0/MISO
GND3
V
DD
V
REGD
SPI_CS_B
V
DDIO
GND4
RSVD_GND
RSVD_GND
RSVD_GND
RSVD_GND
RSVD_GND
Ground
Interrupt Output 2 / Power state transition control input
Interrupt Output 1
Reset input, active low. Connect this pin to V
DDIO
if unused.
Ground
Reserved - Must be tied to ground
Reserved - Must be tied to ground
Digital interface selection pin. This pin must be tied high to select SPI interface
mode, or low to select I
2
C interface mode.
Reserved pin—must be tied to ground
Reserved pin—must be tied to ground
I
2
C / SPI clock
I
2
C address bit0 / SPI 4-wire Master In Slave Out
Ground
Supply voltage
Digital regulator output. Connect a 0.1 μF capacitor between this pin and ground
SPI chip select input, active low. This pin must be held logic high when operating
in I
2
C interface mode (I
2
C_B/SPI set to ground) to ensure correct operation.
Interface supply voltage
Ground
Reserved - Must be tied to ground
Reserved - Must be tied to ground
Reserved - Must be tied to ground
Reserved - Must be tied to ground
Reserved - Must be tied to ground
Function
SDA / MOSI / SPI_Data I
2
C data / SPI 4-wire Master Out Slave In / SPI 3-wire data In/Out
2
1. INT2/PWR_CTRL becomes a high-impedance input with weak internal pull-up resistor when
CTRLREG3[EXTCTRLEN]
= 1; the pull-up resistor is referenced to VDDIO.
2. MOSI becomes a bidirectional data pin when FXAS21002C is operated in 3-wire SPI mode with
CTRL_REG0[SPIW]=1.
1.3 System Connections
The FXAS21002C offers the choice of interfacing with a host processor through
either I
2
C or SPI interfaces.
Figure 3
and
Figure 4
show the recommended circuit
connections for implementing both interface options.
3-Axis Digital Angular Rate Gyroscope, Rev. 2.1, 5/2015
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Freescale Semiconductor, Inc.
