Datasheet ADIS16495 (Analog Devices) - 12

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Data Sheet ADIS16495 Accelerometer Factory Calibration
The decimation filter averages multiple samples together to The accelerometer factory calibration applies the following produce each register update. In this type of filter structure, the correction formulas to the data of each accelerometer: number of samples in the average is equal to the reduction in the update rate for the output data registers. See the DEC_RATE regis- a'  m m m  a  b   X   11 12 13   X   X  ter for the user controls for this filter (see Table 150). a'  m m m  a  b   Y   21 22 23   Y   Y 
REGISTER STRUCTURE
        a' m m m a b Z   31 32 33   Z   Z  (2) All communication with the ADIS16495 involves accessing its  0 p p  2  user registers. The register structure contains both output data  12 13   XC 2  p 0 p   and control registers. The output data registers include the latest 21 23  YC     p p 0 2  sensor data, error flags, and identification data. The control  31 32   ZC  registers include sample rate, filtering, I/O, calibration, and where: diagnostic configuration options. All com-munication between a'X, a'Y, and a'Z are the postcalibration accelerometer data. the ADIS16495 and an external processor involves either m11, m12, m13, m21, m22, m23, m31, m32, and m33 are the scale and reading or writing to one of the user registers. alignment correction factors. aX, aY, and aZ are the precalibration accelerometer data.
TRIAXIAL GYROSCOPE OUTPUT
b
ADC DSP
X, bY, and bZ are the bias correction factors.
REGISTERS I
0, p
TRIAXIAL
12, p13, p21, p23, p31, and p32 are the point of percussion
ACCELEROMETER SP
correction factors
CONTROL TEMPERATURE REGISTERS CONTROLLER
ω2
SENSOR
XC, ω2YC, and ω2ZC are the postcalibration gyroscope data 018 (squared). 62- 150 All the correction factors in each matrix/array are derived from Figure 18. Basic Operation direct observation of the response of each accelerometer to a The register structure uses a paged addressing scheme that variety of inertial test conditions at multiple temperatures contains 13 pages, with each page containing 64 register across the calibration temperature range (−40°C ≤ TC ≤ +85°C). locations. Each register is 16 bits wide, with each byte having its These correction factors are stored in the flash memory bank, own unique address within the memory map of that page. The SPI but they are not available for observation. Bit 6 in the CONFIG port has access to one page at a time, using the bit sequence in register provides an on/off control for the point of percussion Figure 19. Select the page to activate for SPI access by writing its alignment (see Table 148). See Figure 38 for more details on the code to the PAGE_ID register. Read the PAGE_ID register to user calibration options that are available for the determine which page is currently active. Table 7 displays the accelerometers. PAGE_ID contents for each page and their basic functions. The
Filtering
PAGE_ID register is located at Address 0x00 on every page. After calibration, the data of each inertial sensor passes through
Table 7. User Register Page Assignments
two digital filters, both of which have user configurable
Page PAGE_ID Function
attributes: FIR and decimation (see Figure 17). 0 0x00 Output data, clock, identification 1 0x01 Reserved
FROM TO FIR DECIMATION
017
CALIBRATION DATA FILTER FILTER REGISTERS
2 0x02 Calibration 15062- Figure 17. Inertial Sensor Filtering 3 0x03 Control: sample rate, filtering, I/O 4 0x04 Serial number, cyclic redundancy check (CRC) The FIR filter includes four banks of coefficients that have values 120 taps each. Register FILTR_BNK_0 (see Table 158) and 5 0x05 FIR Filter Bank A, Coefficient 0 to Coefficient 59 Register FILTR_BNK_1 (see Table 160) provide the 6 0x06 FIR Filter Bank A, Coefficient 60 to Coefficient 119 configuration options for the use of the FIR filters of each inertial 7 0x07 FIR Filter Bank B, Coefficient 0 to Coefficient 59 sensor. Each FIR filter bank includes a preconfigured filter, but 8 0x08 FIR Filter Bank B, Coefficient 60 to Coefficient 119 the user can design their own filters and write over these values 9 0x09 FIR Filter Bank C, Coefficient 0 to Coefficient 59 using the register of each coefficient. For example, Table 163 10 0x0A FIR Filter Bank C, Coefficient 60 to Coefficient 119 provides the details for the FIR_COEF_A071 register, which 11 0x0B FIR Filter Bank D, Coefficient 0 to Coefficient 59 contains Coefficient 71 in FIR Bank A. Refer to Figure 41 for 12 0x0C FIR Filter Bank D, Coefficient 60 to Coefficient 119 the frequency response of the factory default filters. These filters do not represent any specific application environment; they are only examples. Rev. A | Page 11 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