Datasheet ADIS16495 (Analog Devices) - 3
| Hersteller | Analog Devices |
| Beschreibung | Tactical Grade, Six Degrees of Freedom Inertial Sensor |
| Seiten / Seite | 40 / 3 — ADIS16495. Data Sheet. TABLE OF CONTENTS. REVISION HISTORY 11/2017—Rev. 0 … |
| Revision | B |
| Dateiformat / Größe | PDF / 1.3 Mb |
| Dokumentensprache | Englisch |
ADIS16495. Data Sheet. TABLE OF CONTENTS. REVISION HISTORY 11/2017—Rev. 0 to Rev. A. 10/2017—Revision 0: Initial Version
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ADIS16495 Data Sheet TABLE OF CONTENTS
Features .. 1 Acceleration Data ... 21 Applications ... 1 Time Stamp ... 22 General Description ... 1 Cyclical Redundandcy check (CRC-32) .. 22 Functional Block Diagram .. 1 Delta Angles .. 23 Revision History ... 2 Delta Velocity .. 24 Specifications ... 3 User Bias/Scale Adjustment .. 27 Timing Specifications .. 5 Scratch Registers, USER_SCR_x .. 29 Absolute Maximum Ratings .. 7 Flash Memory Endurance Counter, FLSHCNT_LOW, Thermal Resistance .. 7 FLSHCNT_HIGH .. 30 ESD Caution .. 7 Global Commands, GLOB_CMD .. 30 Pin Configuration and Function Descriptions ... 8 Auxiliary I/O Line Configuration, FNCTIO_CTRL ... 31 Typical Performance Characteristics ... 9 General-Purpose I/O Control, GPIO_CTRL ... 32 Theory of Operation .. 10 Miscellaneous Configuration, CONFIG ... 32 Inertial Sensor Signal Chain ... 10 Linear Acceleration on Effect on Gyroscope Bias ... 33 Register Structure ... 11 Decimation Filter, DEC_RATE .. 33 Serial Peripheral Interface ... 12 Continuous Bias Estimation (CBE), NULL_CNFG .. 33 Data Ready .. 12 Scaling the Input Clock (PPS Mode), SYNC_SCALE ... 33 Reading Sensor Data .. 13 FIR Filters .. 34 Device Configuration .. 14 Firmware Revision, FIRM_REV .. 36 User Register Memory Map .. 15 Applications Information .. 38 User Register Defintions .. 18 Mounting Best Practices .. 38 Page Number (PAGE_ID) ... 18 Preventing Misinsertion .. 38 Data/Sample Counter (DATA_CNT) .. 18 Evaluation Tools ... 38 Status/Error Flag Indicators (SYS_E_FLAG) .. 18 Power Supply Considerations ... 38 Self Test Error Flags (DIAG_STS) .. 19 Outline Dimensions ... 39 Internal Temperature (TEMP_OUT) .. 19 Ordering Guide .. 39 Gyroscope Data .. 19
REVISION HISTORY 11/2017—Rev. 0 to Rev. A
Changes to Table 1 .. 3 Added Endnote 2, Table 1; Renumbered Sequential y .. 4 Changes to t2 Parameter, Table 2 ... 5 Changes to Table 3 .. 5
10/2017—Revision 0: Initial Version
Rev. A | Page 2 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 INERTIAL SENSOR SIGNAL CHAIN Gyroscope Data Sampling Accelerometer Data Sampling External Clock Options Inertial Sensor Calibration Gyroscope Factory Calibration Accelerometer Factory Calibration Filtering REGISTER STRUCTURE SERIAL PERIPHERAL INTERFACE DATA READY READING SENSOR DATA Burst Read Function DEVICE CONFIGURATION Dual Memory Structure USER REGISTER MEMORY MAP USER REGISTER DEFINTIONS PAGE NUMBER (PAGE_ID) DATA/SAMPLE COUNTER (DATA_CNT) STATUS/ERROR FLAG INDICATORS (SYS_E_FLAG) SELF TEST ERROR FLAGS (DIAG_STS) INTERNAL TEMPERATURE (TEMP_OUT) GYROSCOPE DATA Gyroscope Measurement Range/Scale Factor Gyroscope Data Formatting X-Axis Gyroscope (X_GYRO_LOW, X_GRYO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) 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 TIME STAMP CYCLICAL REDUNDANDCY CHECK (CRC-32) DELTA ANGLES Delta Angle Measurement Range 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 Burst Read Command, BURST_CMD Product Identification, PROD_ID USER BIAS/SCALE ADJUSTMENT Gyroscope Scale Adjustment, X_GYRO_SCALE Gyroscope Scale Adjustment, Y_GYRO_SCALE Gyroscope Scale Adjustment, Z_GYRO_SCALE Accelerometer Scale Adjustment, X_ACCL_SCALE Accelerometer Scale Adjustment, Y_ACCL_SCALE Accelerometer Scale Adjustment, Z_ACCL_SCALE Gyroscope Bias Adjustment, XG_BIAS_LOW, XG_BIAS_HIGH Gyroscope Bias Adjustment, YG_BIAS_LOW, YG_BIAS_HIGH Gyroscope Bias Adjustment, ZG_BIAS_LOW, ZG_BIAS_HIGH Accelerometer Bias Adjustment, XA_BIAS_LOW, XA_BIAS_HIGH Accelerometer Bias Adjustment, YA_BIAS_LOW, YA_BIAS_HIGH Accelerometer Bias Adjustment, ZA_BIAS_LOW, ZA_BIAS_HIGH SCRATCH REGISTERS, USER_SCR_X FLASH MEMORY ENDURANCE COUNTER, FLSHCNT_LOW, FLSHCNT_HIGH GLOBAL COMMANDS, GLOB_CMD Software Reset Clear User Calibration Flash Memory Update On Demand Self Test (ODST) Bias Correction Update AUXILIARY I/O LINE CONFIGURATION, FNCTIO_CTRL Data Ready Indicator Input Sync/Clock Control 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 (CBE), NULL_CNFG SCALING THE INPUT CLOCK (PPS MODE), SYNC_SCALE Measurement Range Identifier, RANG_MDL FIR FILTERS FIR Filters Control, FILTR_BNK_0, FILTR_BNK_1 FIR Filter Bank Memory Maps FIR Filter Bank A, FIR_COEF_A000 to FIR_COEF_A119 FIR Filter Bank B, FIR_COEF_B000 to FIR_COEF_B119 FIR Filter Bank C, FIR_COEF_C000 to FIR_COEF_C119 FIR Filter Bank D, FIR_COEF_D000 to FIR_COEF_D119 Default Filter Performance FIRMWARE REVISION, FIRM_REV Firmware Revision Year, FIRM_Y Boot Revision Number, BOOT_REV Continuous SRAM Testing Signature CRC, Calibration Values, CAL_SIGTR_LWR Signature CRC, Calibration Values, CAL_SIGTR_UPR Derived CRC, Calibration Values, CAL_DRVTN_LWR Derived CRC, Calibration Values, CAL_DRVTN_UPR Signature CRC, Program Code, CODE_SIGTR_LWR Signature CRC, Program Code, CODE_SIGTR_UPR Derived CRC, Program Code, CODE_DRVTN_LWR Derived CRC, Program Code, CODE_DRVTN_UPR Lot Specific Serial Number, SERIAL_NUM APPLICATIONS INFORMATION MOUNTING BEST PRACTICES PREVENTING MISINSERTION EVALUATION TOOLS Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS2 POWER SUPPLY CONSIDERATIONS OUTLINE DIMENSIONS ORDERING GUIDE
ADIS16495 Data Sheet TABLE OF CONTENTS
Features .. 1 Acceleration Data ... 21 Applications ... 1 Time Stamp ... 22 General Description ... 1 Cyclical Redundandcy check (CRC-32) .. 22 Functional Block Diagram .. 1 Delta Angles .. 23 Revision History ... 2 Delta Velocity .. 24 Specifications ... 3 User Bias/Scale Adjustment .. 27 Timing Specifications .. 5 Scratch Registers, USER_SCR_x .. 29 Absolute Maximum Ratings .. 7 Flash Memory Endurance Counter, FLSHCNT_LOW, Thermal Resistance .. 7 FLSHCNT_HIGH .. 30 ESD Caution .. 7 Global Commands, GLOB_CMD .. 30 Pin Configuration and Function Descriptions ... 8 Auxiliary I/O Line Configuration, FNCTIO_CTRL ... 31 Typical Performance Characteristics ... 9 General-Purpose I/O Control, GPIO_CTRL ... 32 Theory of Operation .. 10 Miscellaneous Configuration, CONFIG ... 32 Inertial Sensor Signal Chain ... 10 Linear Acceleration on Effect on Gyroscope Bias ... 33 Register Structure ... 11 Decimation Filter, DEC_RATE .. 33 Serial Peripheral Interface ... 12 Continuous Bias Estimation (CBE), NULL_CNFG .. 33 Data Ready .. 12 Scaling the Input Clock (PPS Mode), SYNC_SCALE ... 33 Reading Sensor Data .. 13 FIR Filters .. 34 Device Configuration .. 14 Firmware Revision, FIRM_REV .. 36 User Register Memory Map .. 15 Applications Information .. 38 User Register Defintions .. 18 Mounting Best Practices .. 38 Page Number (PAGE_ID) ... 18 Preventing Misinsertion .. 38 Data/Sample Counter (DATA_CNT) .. 18 Evaluation Tools ... 38 Status/Error Flag Indicators (SYS_E_FLAG) .. 18 Power Supply Considerations ... 38 Self Test Error Flags (DIAG_STS) .. 19 Outline Dimensions ... 39 Internal Temperature (TEMP_OUT) .. 19 Ordering Guide .. 39 Gyroscope Data .. 19
REVISION HISTORY 11/2017—Rev. 0 to Rev. A
Changes to Table 1 .. 3 Added Endnote 2, Table 1; Renumbered Sequential y .. 4 Changes to t2 Parameter, Table 2 ... 5 Changes to Table 3 .. 5
10/2017—Revision 0: Initial Version
Rev. A | Page 2 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 INERTIAL SENSOR SIGNAL CHAIN Gyroscope Data Sampling Accelerometer Data Sampling External Clock Options Inertial Sensor Calibration Gyroscope Factory Calibration Accelerometer Factory Calibration Filtering REGISTER STRUCTURE SERIAL PERIPHERAL INTERFACE DATA READY READING SENSOR DATA Burst Read Function DEVICE CONFIGURATION Dual Memory Structure USER REGISTER MEMORY MAP USER REGISTER DEFINTIONS PAGE NUMBER (PAGE_ID) DATA/SAMPLE COUNTER (DATA_CNT) STATUS/ERROR FLAG INDICATORS (SYS_E_FLAG) SELF TEST ERROR FLAGS (DIAG_STS) INTERNAL TEMPERATURE (TEMP_OUT) GYROSCOPE DATA Gyroscope Measurement Range/Scale Factor Gyroscope Data Formatting X-Axis Gyroscope (X_GYRO_LOW, X_GRYO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) 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 TIME STAMP CYCLICAL REDUNDANDCY CHECK (CRC-32) DELTA ANGLES Delta Angle Measurement Range 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 Burst Read Command, BURST_CMD Product Identification, PROD_ID USER BIAS/SCALE ADJUSTMENT Gyroscope Scale Adjustment, X_GYRO_SCALE Gyroscope Scale Adjustment, Y_GYRO_SCALE Gyroscope Scale Adjustment, Z_GYRO_SCALE Accelerometer Scale Adjustment, X_ACCL_SCALE Accelerometer Scale Adjustment, Y_ACCL_SCALE Accelerometer Scale Adjustment, Z_ACCL_SCALE Gyroscope Bias Adjustment, XG_BIAS_LOW, XG_BIAS_HIGH Gyroscope Bias Adjustment, YG_BIAS_LOW, YG_BIAS_HIGH Gyroscope Bias Adjustment, ZG_BIAS_LOW, ZG_BIAS_HIGH Accelerometer Bias Adjustment, XA_BIAS_LOW, XA_BIAS_HIGH Accelerometer Bias Adjustment, YA_BIAS_LOW, YA_BIAS_HIGH Accelerometer Bias Adjustment, ZA_BIAS_LOW, ZA_BIAS_HIGH SCRATCH REGISTERS, USER_SCR_X FLASH MEMORY ENDURANCE COUNTER, FLSHCNT_LOW, FLSHCNT_HIGH GLOBAL COMMANDS, GLOB_CMD Software Reset Clear User Calibration Flash Memory Update On Demand Self Test (ODST) Bias Correction Update AUXILIARY I/O LINE CONFIGURATION, FNCTIO_CTRL Data Ready Indicator Input Sync/Clock Control 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 (CBE), NULL_CNFG SCALING THE INPUT CLOCK (PPS MODE), SYNC_SCALE Measurement Range Identifier, RANG_MDL FIR FILTERS FIR Filters Control, FILTR_BNK_0, FILTR_BNK_1 FIR Filter Bank Memory Maps FIR Filter Bank A, FIR_COEF_A000 to FIR_COEF_A119 FIR Filter Bank B, FIR_COEF_B000 to FIR_COEF_B119 FIR Filter Bank C, FIR_COEF_C000 to FIR_COEF_C119 FIR Filter Bank D, FIR_COEF_D000 to FIR_COEF_D119 Default Filter Performance FIRMWARE REVISION, FIRM_REV Firmware Revision Year, FIRM_Y Boot Revision Number, BOOT_REV Continuous SRAM Testing Signature CRC, Calibration Values, CAL_SIGTR_LWR Signature CRC, Calibration Values, CAL_SIGTR_UPR Derived CRC, Calibration Values, CAL_DRVTN_LWR Derived CRC, Calibration Values, CAL_DRVTN_UPR Signature CRC, Program Code, CODE_SIGTR_LWR Signature CRC, Program Code, CODE_SIGTR_UPR Derived CRC, Program Code, CODE_DRVTN_LWR Derived CRC, Program Code, CODE_DRVTN_UPR Lot Specific Serial Number, SERIAL_NUM APPLICATIONS INFORMATION MOUNTING BEST PRACTICES PREVENTING MISINSERTION EVALUATION TOOLS Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS2 POWER SUPPLY CONSIDERATIONS OUTLINE DIMENSIONS ORDERING GUIDE