FSM-9 Modules

FSM-9 Module
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The FSM-9 is a high performance fully calibrated 9-axis inertial measurement unit (IMU) / attitude heading reference system (AHRS). It includes a tri-axial accelerometer, a tri-axial gyroscope, a tri-axial magnetometer and a 32-bit MCU in a rugged enclosure. By fusing the output of these sensors with the onboard Freespace® MotionEngine™ software, the FSM-9 provides precise real-time 3D orientation, heading, calibrated acceleration and calibrated angular velocity, as well as more advanced outputs such as cursor. The 9-axis motion output is unmatched in performance at any price point and is ideal for use in HMDs, Virtual Reality systems, and a variety of other applications.

The FSM-9 is available for purchase from the Hillcrest Labs store.
Contact us for discounted volume pricing on orders of 10+ units.

 

  • Overview
  • Product Details
  • Features
  • Documentation

Advanced 9-Axis Motion

The FSM-9 combines industry leading hardware and software to output real-time 3D orientation, calibrated acceleration, calibrated angular position, and heading. It also offers more advanced outputs such as cursor position and gesture recognition all through a standard USB interface.

Individually Factory Calibrated

Our FSM-9 modules are individually calibrated for inertial and magnetic errors to ensure high performance in all environmental conditions. Using Hillcrest’s unique sensor qualification lab sensors and modules are tested across over 50 variables including temperature, aging, and voltage to measure and correct for errors including bias, sensitivity and cross-axis alignment in real-time during use. In addition, dynamic magnetic tracking eliminates hard and soft iron interference.

Industry Leading Sensor Fusion

Drawing on Hillcrest’s long history of motion development, the FSM-9 leverages the elite performance of MotionEngine sensor fusion.

Available FSM-9 Product Models:

Product ModelProduct ImageDescription
FSM-9 Reference KitFSM-9 Reference KitFSM-9 module with enclosure in blister pack
FSM-9 With EnclosureFSM-9 with enclosureFSM-9 module with enclosure in bulk packaging
FSM-9 OEMFSM-9 OEMFSM-9 module without enclosure (PCA only) in bulk packaging

Product Dimensions:

  • FSM-9 in Enclosure:  38mm x 23mm x 9mm
  • FSM-9 – PCA Only – Without Enclosure: 19mm x 18mm x 4mm

 

A Turnkey Solution

  • Standard Interfaces – communicate with an external system via Serial Peripheral Interface (SPI) or USB
  • Battery Operable – low power requirements and context-awareness logic make the FSM-9 suitable for battery operated devices.
  • Compact Package – small form factor PCA module (19mm x 18mm x 4mm)
  • Robust Enclosure – available enclosure provides protection and simplified mounting options

 

Elite Performance

  • 9 Axis Motion – outputs real-time 3D orientation, calibrated acceleration, and calibrated angular position, as well as more advanced outputs such as cursor position, context and gesture recognition
  • Advanced MEMS Sensor Hardware – the tri-axial gyroscope, tri-axial accelerometer and tri-axial magnetometer are pre-tested and qualified by our Sensor Qualification Lab to ensure ultra-high performance
  • Advanced Sensor Fusion – MotionEngine software provides industry-leading calibration and fusion which eliminates sensor error caused by temperature change, voltage variations and device aging
  • Factory Calibration – the FSM-9 is calibrated post-production to ensure performance standards are met

 

Advanced Processing Options

  • AR / VR Stabilization – produces the smoothest motion record to minimize jumps and jitter for immersive apps
  • Intelligent Motion Stabilization – stabilizes motion caused by hand tremor and in-air button clicks
  • Activity Classification – key power management and activity classification features such as On Table, Stable and Active
  • Magnetic Interference Removal – elminates the effects of hard and soft iron magnetic interference for reliable and stable heading
  • Dynamic Gyro-ZRO Tracking – eliminates Gyro drift through real-time ZRO adjustments

 

Flexible SDK

  • Freespace MotionStudio – PC-based evaluation and configuration tool
  • Libfreespace – Open source C I/O library to adjust and configure the FSM-9
  • In-field software upgradable – Allows ongoing performance tuning and cost effective support

How to Use the FSM-9 

Using USB

  • Using a micro-B USB cable (not provided) plug the FSM-9 into an available USB port on a host device running Microsoft Windows or Linux.
  • The FSM-9 initializes in Sleep mode so no data is output by default
  • Use Libfreespace or the Freespace MotionStudio to configure the FSM-9 into the desired data mode
  • To ensure maximum performance you should calibrate the magnetometer on start up by moving the module in a ‘figure-8’ pattern. After this initial calibration, the dynamic magnetic calibration should maintain performance until a new magnetic environment is experienced.

Using SPI

  • Remove the FSM-9 from the black enclosure
  • Connect the FSM-9 to your SPI master processor using the SPI solder cups and the wiring diagram listed in the  FSM-9 Data Sheet
  • The FSM-9 initializes in Sleep mode so no data is output by default
  • Using the HCOMM SPI messages defined in the FSM-9 Datasheet and HCOMM Hub Reference Manual, configure the FSM-9 into the desired data mode
  • To ensure maximum performance you should calibrate the magnetometer on start up by moving the module in a ‘figure-8’ pattern. After this initial calibration, the dynamic magnetic calibration should maintain performance until a new magnetic environment is experienced.

 

Product Information and Tools

Software tools (including Libfreespace and the Freespace MotionStudio) are available for download at hillcrestlabs.com/products/tools.

Download:  FSM-9 Product Brief

Download:  FSM-9 Data Sheet

Download:  HCOMM Reference Manual