Datasheet ADIS16489 (Analog Devices) - 17

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ADIS16489 Data Sheet
SYS_E_FLAG[5] (see Table 16) contains the pass/fail result (0 =
GYROSCOPE DATA
pass) for on demand self test (ODST) operations, whereas the The gyroscopes in the ADIS16489 measure the angular rate of DIAG_STS register (see Table 17 and Table 18) contains rotation around three orthogonal axes (x, y, and z). Figure 18 pass/fail flags (0 = pass) for each inertial sensor. Reading the illustrates the orientation of each gyroscope axis, along with the DIAG_STS register causes all of its bits to restore to 0. The bits direction of rotation that produces a positive response in each in DIAG_STS return to 1 if the error conditions persists. of their measurements.
ALARM ERROR FLAGS (ALM_STS) Z-AXIS Table 19. ALM_STS Register Definition ωZ Page Addresses Default Access Flash Backup
0x00 0x0C, 0x0D 0x0000 R No
X-AXIS Table 20. ALM_STS Bit Definitions Y-AXIS ω Bits Description X ω
[15:12] Not used
Y
018
PIN 23 PIN 1
15596- 11 Barometer alarm flag (1 = alarm is active) Figure 18. Gyroscope Axis and Polarity Assignments [10:6] Not used 5 Z-axis accelerometer alarm flag (1 = alarm is active) Each gyroscope has two output data registers. Figure 19 4 Y-axis accelerometer alarm flag (1 = alarm is active) il ustrates how these two registers combine to support a 32-bit, 3 X-axis accelerometer alarm flag (1 = alarm is active) twos complement data format for the x-axis gyroscope measure- 2 Z-axis gyroscope alarm flag (1 = alarm is active) ments. This format also applies to the y- and z-axes as well. 1 Y-axis gyroscope alarm flag (1 = alarm is active)
X_GYRO_OUT X_GYRO_LOW
0 X-axis gyroscope alarm flag (1 = alarm is active)
15 0 15 0
019 The ALM_STS register (see Table 19 and Table 20) contains the
X-AXIS GYROSCOPE DATA
15596- error flags for the alarm settings in the ALM_CNFG_0 (see Figure 19. Gyroscope Output Data Structure Table 170) and ALM_CNFG_1 (see Table 172) registers.
X-Axis Gyroscope (X_GYRO_LOW, X_GYRO_OUT)
Reading the ALM_STS register causes all bits to restore to 0. If the alarm condition is persistent, its bit restores to a 1 in the
Table 24. X_GYRO_LOW Register Definition
next sample cycle.
Page Addresses Default Access Flash Backup
0x00 0x10, 0x11 Not applicable R No
INTERNAL TEMPERATURE (TEMP_OUT) Table 25. X_GYRO_LOW Bit Definitions Table 21. TEMP_OUT Register Definition Bits Description Page Addresses Default Access Flash Backup
[15:0] X-axis gyroscope data; low word 0x00 0x0E, 0x0F Not applicable R No
Table 26. X_GYRO_OUT Register Definition Table 22. TEMP_OUT Bit Definitions Page Addresses Default Access Flash Backup Bits Description
0x00 0x12, 0x13 Not applicable R No [15:0] Temperature data; twos complement, 0.00565°C per LSB, 25°C = 0x0000
Table 27. X_GYRO_OUT Bit Definitions
The TEMP_OUT register (see Table 21 and Table 22) provides a
Bits Description
coarse measurement of the temperature inside of the ADIS16489. [15:0] X-axis gyroscope data; high word; twos complement, This data is most useful for monitoring relative changes that ±450°/sec range; 0°/sec = 0x0000, 1 LSB = 0.02°/sec influence the temperature inside of the ADIS16489. The X_GYRO_LOW (see Table 24 and Table 25) and X_GYRO_ OUT (see Table 26 and Table 27) registers contain the gyroscope
Table 23. TEMP_OUT Data Format Examples
data for the x-axis.
Temperature (°C) Decimal Hex Binary
+85 +10,619 0x297B 0010 1001 0111 1011 +25 + 0.0113 +2 0x0002 0000 0000 0000 0010 +25 + 0.00565 +1 0x0001 0000 0000 0000 0001 +25 0 0x0000 0000 0000 0000 0000 +25 − 0.00565 −1 0xFFFF 1111 1111 1111 1111 +25 − 0.0113 −2 0xFFFE 1111 1111 1111 1110 −40 −11,504 0xD310 1101 0011 0001 0000 Rev. 0 | Page 16 of 39 Document Outline Features Applications General Description Functional block Diagram Revision History Specifications Timing Specifications Register Specific Stall Times Timing Diagrams Absolute Maximum Ratings Thermal Resistance ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Theory of Operation Introduction Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Register Memory Map User Register Defintions Page 0 (PAGE_ID) Sample Sequence Counter (SEQ_CNT) Status/Error Flag Indicators (SYS_E_FLAG) Self Test Error Flags (DIAG_STS) Alarm Error Flags (ALM_STS) Internal Temperature (TEMP_OUT) Gyroscope Data X-Axis Gyroscope (X_GYRO_LOW, X_GYRO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) Gyroscope Resolution Acceleration Data X-Axis Accelerometer (X_ACCL_LOW, X_ACCL_OUT) Y-Axis Accelerometer (Y_ACCL_LOW, Y_ACCL_OUT) Z-Axis Accelerometer (Z_ACCL_LOW, Z_ACCL_OUT) Accelerometer Resolution Barometer Data Barometer (BAROM_LOW, BAROM_OUT) Barometer Resolution Delta Angles X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT) Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT) Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT) Delta Angle Resolution Delta Velocity X-Axis Delta Velocity (X_DELTVEL_LOW, X_DELTVEL_OUT) Y-Axis Delta Velocity (Y_DELTVEL_LOW, Y_DELTVEL_OUT) Z-Axis Delta Velocity (Z_DELTVEL_LOW, Z_DELTVEL_OUT) Delta Velocity Resolution Real-Time Clock Real-Time Clock: Minutes/Seconds (TIME_MS_OUT) Real-Time Clock: Days/Hours (TIME_DH_OUT) Real-Time Clock: Years/Months (TIME_YM_OUT) Product Identification ( PROD_ID) Page 2 (PAGE_ID) Calibration Calibration, Gyroscope Scale (X_GYRO_SCALE) Calibration, Gyroscope Scale (Y_GYRO_SCALE) Calibration, Gyroscope Scale (Z_GYRO_SCALE) Calibration, Accelerometer Scale (X_ACCL_SCALE) Calibration, Accelerometer Scale (Y_ACCL_SCALE) Calibration, Accelerometer Scale (Z_ACCL_SCALE) Calibration, Gyroscope Bias (XG_BIAS_LOW, XG_BIAS_HIGH) Calibration, Gyroscope Bias (YG_BIAS_LOW, YG_BIAS_HIGH) Calibration, Gyroscope Bias (ZG_BIAS_LOW, ZG_BIAS_HIGH) Calibration, Accelerometer Bias (XA_BIAS_LOW, XA_BIAS_HIGH) Calibration, Accelerometer Bias (YA_BIAS_LOW, YA_BIAS_HIGH) Calibration, Accelerometer Bias (ZA_BIAS_LOW, ZA_BIAS_HIGH) Barometers Calibration, Barometer Bias (BR_BIAS_LOW, BR_BIAS_HIGH) Scratch Registers (USER_SCR_x) Flash Memory Endurance Counter (FLSHCNT_LOW, FLSHCNT_HIGH) Page 3 (PAGE_ID) Global Commands (GLOB_CMD) Software Reset Factory Calibration Restore Flash Memory Update Flash Memory Test On Demand Self Test (ODST) Bias Correction Update Auxiliary I/O Line Configuration (FNCTIO_CTRL) Data Ready Indicator Input Sync/Clock Control Alarm Indicator General-Purpose I/O Control (GPIO_CTRL) Miscellaneous Configuration (CONFIG) Point of Percussion Linear Acceleration on Effect on Gyroscope Bias Decimation Filter (DEC_RATE) Continuous Bias Estimation (NULL_CNFG) Power Management (SLP_CNT) FIR Filter Control (FILTR_BNK_0, FILTR_BNK_1) Alarm Configuration (ALM_CNFG_0, ALM_CNFG_1, ALM_CFG_2) Solving for ΔX_ACCL_OUT, ΔZ_GYRO_OUT, ΔY_GYRO_OUT, and ΔX_GYRO_OUT Solving for ΔZ_ACCL_OUT and ΔY_ACCL_OUT X-Axis Gyroscope Alarm (XG_ALM_MAGN) Alarm Example Y-Axis Gyroscope Alarm (YG_ALM_MAGN) Z-Axis Gyroscope Alarm (ZG_ALM_MAGN) X-Axis Accelerometer Alarm (XA_ALM_MAGN) Y-Axis Accelerometer Alarm (YA_ALM_MAGN) Z-Axis Accelerometer Alarm (ZA_ALM_MAGN) Barometer Alarm (BR_ALM_MAGN) Firmware Revision (FIRM_REV) Firmware Revision Day and Month (FIRM_DM) Firmware Revision Year (FIRM_Y) Page 4 (PAGE_ID) Part Identification Numbers (PART_ID1, PART_ID2, PART_ID3, PART_ID4) FIR Filters Page 5, Page 6 (PAGE_ID) FIR Filter Bank A (FIR_COEF_A000 to FIR_COEF_A119) Page 7, Page 8 (PAGE_ID) FIR Filter Bank B (FIR_COEF_B000 to FIR_COEF_B119) Page 9, Page 10 (PAGE_ID) FIR Filter Bank C (FIR_COEF_C000 to FIR_COEF_C119) Page 11, Page 12 (PAGE_ID) FIR Filter Bank D (FIR_COEF_D000 to FIR_COEF_D119) Default Filter Performance Applications Information Mounting Best Practices Evaluation Tools Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS Power Supply Considerations Packaging and Ordering Information Outline Dimensions Ordering Guide