Freescale Semiconductor, Inc.
Data Sheet: Advance Information
FXAS21000
Rev 1.3, 11/2014
3-Axis Digital Angular Rate
Gyroscope
FXAS21000 is a small, low-power, 3-axis yaw, pitch, and roll
angular rate gyroscope. The full-scale range is adjustable from
±200°/s to ±1600°/s, with Output Data Rates (ODR) from 1.5625
to 200 Hz. It features both I
2
C and SPI interfaces. 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.
FXAS21000 is available in a plastic QFN package; the device is
guaranteed to operate over the extended temperature range of
–40 °C to +85 °C.
Features
• Supply voltage (V
DD
) from 1.95 V to 3.6 V
• Interface supply voltage (V
DDIO
) from 1.62 V to 3.6 V
• I
2
C interfaces
• Normal mode (100 kHz)
• Fast mode (400 kHz)
• SPI interface
• Up to 2 MHz (3- and 4-wire modes)
• FIFO buffer is 192 bytes (32 X/Y/Z samples) with stop and
circular operating modes
• Output Data Rates (ODR) from 1.5625 to 200 Hz;
integrated antialiasing filter ensures that output signal
bandwidth is limited to ODR/2
• Angular rate sensitivity of 0.2°/s in ±1600°/s FSR mode
• Low power standby mode
• Rate threshold interrupt
• Integrated self-test function
• No external charge-pump capacitor required
FXAS21000
Reserved
Reserved
Reserved
ED
GND
INT2
INT1
RST_B
GND
Reserved
Reserved
24
1
2
3
4
5
6
7
8
9
23
24 QFN
4 mm x 4 mm x 1 mm
Case 2209-01
Top View
Reserved
21
IV
22
Reserved
20
19
18
GND
V
DDIO
SPI_CS_B
V
REGD
V
DD
GND
SA0 / MISO
FXAS21000
24 pin QFN
4 mm x 4 mm x 1 mm
17
16
15
14
13
C
H
10
11
12
R
Pin Connections
Typical Applications
• Game controller
• Gyro stabilized electronic compass
• Orientation determination
• Gesture-based user interfaces and Human Machine Interface (HMI)
• Indoor navigation
• Mobile phones
• Hobby and toy grade RC vehicles and UAVs
• Virtual and augmented reality devices (including glasses)
This document contains information on a new product. Specifications and information herein
are subject to change without notice. © 2014 Freescale Semiconductor, Inc. All rights reserved.
A
SCL / SCLK
SDA / MOSI
/ SPI_DIO
Reserved
Reserved
Reserved
Table of Contents
1 General Description......................................................................... 4
1.1 Block Diagram.......................................................................4
1.2 Pinout.....................................................................................4
System Connections.............................................................. 6
1.3.1 Typical Application Circuit—I2C Mode................. 6
1.3.2 Typical Application Circuit—SPI Mode..................7
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...................................... 10
3 Digital Interfaces..............................................................................11
3.1 I²C Interface...........................................................................11
3.1.1 I²C Operation............................................................13
3.1.2 I²C Read Operations................................................. 14
3.1.3 I²C Write Operations................................................ 15
3.2 General SPI Operation (4-Wire Mode)................................. 17
3.2.1 SPI Write (4-Wire Mode).........................................17
3.2.2 SPI Single Read (4-Wire Mode).............................. 18
3.2.3 SPI 3-Wire Mode..................................................... 19
4 Modes of Operation......................................................................... 20
5 Functionality.................................................................................... 20
5.1 FIFO Data Buffer.................................................................. 21
5.2 Rate Threshold Detection Function.......................................22
6 Register Descriptions....................................................................... 24
1.3
6.1
6.2
0x00: STATUS......................................................................25
0x01–0x06: OUT_X_MSB, OUT_X_LSB, OUT_Y_MSB,
OUT_Y_LSB, OUT_Z_MSB, OUT_Z_LSB........................25
A
R
C
H
IV
6.3 0x07: DR_STATUS.............................................................. 27
6.4 0x08: F_STATUS..................................................................28
6.5 0x09: F_SETUP.....................................................................29
6.6 0x0A: F_EVENT...................................................................30
6.7 0x0B: INT_SOURCE_FLAG............................................... 31
6.8 0x0C: WHO_AM_I............................................................... 32
6.9 0x0D: CTRL_REG0..............................................................32
6.10 0x0E: RT_CFG......................................................................34
6.11 0x0F: RT_SRC...................................................................... 35
6.12 0x10: RT_THS...................................................................... 36
6.13 0x11: RT_COUNT................................................................ 37
6.14 0x12: TEMP.......................................................................... 37
6.15 0x13: CTRL_REG1...............................................................38
6.16 0x14: CTRL_REG2...............................................................40
7 Printed Circuit Board Layout and Device Mounting.......................42
7.1 Printed Circuit Board Layout................................................ 42
7.2 Overview of Soldering Considerations................................. 43
7.3 Halogen Content....................................................................44
8 Package Information........................................................................ 44
8.1 Product Identification Markings............................................44
8.2 Tape and Reel Information....................................................44
8.3 Package Description.............................................................. 45
9 Revision History.............................................................................. 47
ED
3-Axis Digital Angular Rate Gyroscope, Rev1.3, 11/2014.
3
Freescale Semiconductor, Inc.
General Description
1.2 Pinout
Reserved
Reserved
Reserved
Reserved
21
GND
INT2
INT1
RST_B
GND
Reserved
Reserved
24
1
2
3
4
5
6
7
8
23
22
Reserved
20
19
18
GND
V
DDIO
SPI_CS_B
V
REGD
V
DD
GND
SA0 / MISO
FXAS21000
24 pin QFN
4 mm x 4 mm x 1 mm
17
16
15
14
13
9
10
11
12
Figure 2. Device pinout (top view)
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
Name
GND
INT2
INT1
RST_B
GND
Reserved
Reserved
Reserved
Reserved
Reserved
Ground
Interrupt Output 2
Interrupt Output 1
Ground
Reset input (active low, connect to V
DDIO
if unused)
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
I
2
C / SPI clock
I
2
C address bit0 / SPI 4-wire Master In Slave Out
Ground
Supply voltage
Digital regulator output. Please connect a 0.1 μF capacitor between this pin and GND
SPI chip select input, active low. This pin must be held logic high when operating in I
2
C
interface mode (I
2
C/SPI_CS_B set high) to ensure correct operation.
Interface supply voltage
Ground
Reserved - Must be tied to ground
Reserved - Must be tied to ground
Table continues on the next page...
A
SA0/MISO
GND
V
DD
V
REGD
SPI_CS_B
V
DDIO
GND
Reserved
Reserved
SDA/MOSI/SPI_DIO I
2
C data / SPI 4-wire Master Out Slave In / SPI 3-wire data In/Out
,
1
R
SCL/SCLK
C
H
IV
ED
Function
5
Freescale Semiconductor, Inc.
3-Axis Digital Angular Rate Gyroscope, Rev1.3, 11/2014.
SCL / SCLK
SDA / MOSI
/ SPI_DIO
Reserved
Reserved
Reserved
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