AD ADIS16448/PCBZ Compact, precision ten degrees of freedom inertial sensor Datasheet

Compact, Precision
Ten Degrees of Freedom Inertial Sensor
ADIS16448
Data Sheet
FEATURES
GENERAL DESCRIPTION
Triaxial digital gyroscope with digital range scaling
±250°/sec, ±500°/sec, ±1000°/sec settings
Axis-to-axis alignment, <0.05°
Triaxial digital accelerometer, ±18 g minimum
Triaxial digital magnetometer, ±1.9 gauss minimum
Digital barometer, 10 mbar to 1200 mbar
Calibrated pressure range: 300 mbar to 1100 mbar
Autonomous operation and data collection
No external configuration commands required
205 ms start-up time
Factory calibrated sensitivity, bias, and axial alignment
Calibration temperature range: −40°C to +70°C
SPI-compatible serial interface
Embedded temperature sensor
Programmable operation and control
Automatic and manual bias correction controls
Bartlett window FIR length, number of taps
Digital I/O: data ready, alarm indicator, general-purpose
Alarms for condition monitoring
Enable external sample clock input up to 1.1 kHz
Single command self test
Single-supply operation: 3.15 V to 3.45 V
2000 g shock survivability
Operating temperature range: −40°C to +85°C
The ADIS16448 iSensor® device is a complete inertial system
that includes a triaxial gyroscope, a triaxial accelerometer, a
triaxial magnetometer, and pressure sensors. Each sensor in
the ADIS16448 combines industry-leading iMEMS® technology
with signal conditioning that optimizes dynamic performance.
The factory calibration characterizes each sensor for sensitivity,
bias, alignment, and linear acceleration (gyroscope bias). As a
result, each sensor has its own dynamic compensation formulas
that provide accurate sensor measurements.
The ADIS16448 provides a simple, cost-effective method for
integrating accurate, multiaxis inertial sensing into industrial
systems, especially when compared with the complexity and
investment associated with discrete designs. All necessary motion
testing and calibration are part of the production process at the
factory, greatly reducing system integration time. Tight orthogonal
alignment simplifies inertial frame alignment in navigation systems.
The SPI and register structures provide a simple interface for
data collection and configuration control.
The ADIS16448 has a compatible pinout for systems that currently
use other Analog Devices, Inc., IMU products (ADIS163xx/
ADIS164xx). The ADIS16448 is packaged in a module that is
approximately 24.1 mm × 37.7 mm × 10.8 mm and has a standard
connector interface.
APPLICATIONS
Platform stabilization and control
Navigation
Robotics
FUNCTIONAL BLOCK DIAGRAM
DIO1 DIO2 DIO3 DIO4/CLKIN RST
SELF TEST
I/O
VDD
ALARMS
POWER
MANAGEMENT
GND
TRIAXIAL
GYRO
CONTROLLLER
TRIAXIAL
MAGN
CALIBRATION
AND
FILTERS
CLOCK
ADIS16448
VDD
CS
SCLK
SPI
USER
CONTROL
REGISTERS
PRESSURE
TEMP
OUTPUT
DATA
REGISTERS
DIN
DOUT
09946-001
TRIAXIAL
ACCEL
Figure 1.
Rev. B
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ADIS16448
Data Sheet
TABLE OF CONTENTS
Features .............................................................................................. 1
Status/Error Flags ....................................................................... 15
Applications ....................................................................................... 1
Memory Management ............................................................... 15
General Description ......................................................................... 1
Input/Output Configuration ......................................................... 16
Functional Block Diagram .............................................................. 1
Data Ready Indicator ................................................................. 16
Revision History ............................................................................... 2
General-Purpose Input/Output................................................ 16
Specifications..................................................................................... 3
Digital Processing Configuration ................................................. 17
Timing Specifications .................................................................. 5
Gyroscopes/Accelerometers ..................................................... 17
Absolute Maximum Ratings ............................................................ 6
Input Clock Configuration ....................................................... 17
ESD Caution .................................................................................. 6
Magnetometer/Barometer......................................................... 18
Pin Configuration and Function Descriptions ............................. 7
Calibration ....................................................................................... 19
Typical Performance Characteristics ............................................. 8
Gyroscopes .................................................................................. 19
User Registers .................................................................................... 9
Accelerometers ........................................................................... 19
User Interface .................................................................................. 10
Magnetometer Calibration ........................................................ 20
Reading Sensor Data .................................................................. 10
Flash Updates .............................................................................. 20
Device Configuration ................................................................ 11
Restoring Factory Calibration .................................................. 20
Output Data Registers .................................................................... 12
Alarms .............................................................................................. 21
Gyroscopes .................................................................................. 12
Static Alarm Use ......................................................................... 21
Accelerometers............................................................................ 12
Dynamic Alarm Use .................................................................. 21
Magnetometers ........................................................................... 13
Alarm Reporting ........................................................................ 21
Barometric Pressure ................................................................... 13
Applications Information .............................................................. 22
Remote Pressure Sensing ........................................................... 13
Power Supply Considerations ................................................... 22
Internal Temperature ................................................................. 13
ADIS16448/PCBZ ...................................................................... 22
System Functions ............................................................................ 14
PC-Based Evaluation Tools ....................................................... 22
Global Commands ..................................................................... 14
Outline Dimensions ....................................................................... 23
Product Identification ................................................................ 14
Ordering Guide .......................................................................... 23
Self-Test Function ....................................................................... 14
REVISION HISTORY
7/13—Rev. A to Rev. B
Changes to Linear Acceleration Effect on Bias Test Conditions... 3
Changes Burst Read Function to Section .................................... 11
3/13—Rev. 0 to Rev. A
Changed Start-Up Time from 192 ms to 205 ms ......................... 1
Changes to Table 1 ............................................................................ 3
Changed VDD from 5 V to 3.3 V, Changed tSTALL from 1/fSCLK to
N/A, and Added Endnote 2; Table 2 .............................................. 5
Changes to Burst Read Function Section .................................... 11
Changes to Table 23 ........................................................................ 13
Changes to Single Command Bias Correction Section ............. 19
Changes to ADIS16448/PCBZ Section ........................................ 22
Deleted Mounting, Approaches Section ...................................... 22
Updated Outline Dimensions ....................................................... 23
Changes to Ordering Guide .......................................................... 23
8/12—Revision 0: Initial Version
Rev. B | Page 2 of 24
Data Sheet
ADIS16448
SPECIFICATIONS
TA = 25°C, VDD = 3.3 V, angular rate = 0°/sec, dynamic range = ±1000°/sec ± 1 g, unless otherwise noted.
Table 1.
Parameter
GYROSCOPES
Dynamic Range
Initial Sensitivity
Repeatability 1
Sensitivity Temperature Coefficient
Misalignment
Nonlinearity
Bias Repeatability1, 2
In-Run Bias Stability
Angular Random Walk
Bias Temperature Coefficient
Linear Acceleration Effect on Bias
Bias Supply Sensitivity
Output Noise
Rate Noise Density
−3 dB Bandwidth
Sensor Resonant Frequency
ACCELEROMETERS
Dynamic Range
Sensitivity
Repeatability1
Sensitivity Temperature Coefficient
Misalignment
Nonlinearity
Bias Repeatability1, 2
In-Run Bias Stability
Velocity Random Walk
Bias Temperature Coefficient
Bias Supply Sensitivity
Output Noise
Noise Density
−3 dB Bandwidth
Sensor Resonant Frequency
MAGNETOMETERS
Dynamic Range
Initial Sensitivity
Sensitivity Temperature Coefficient
Misalignment
Nonlinearity
Initial Bias Error
Bias Temperature Coefficient
Output Noise
Noise Density
Bandwidth
Test Conditions/Comments
Min
Typ
±1000
±1200
0.04
0.02
0.01
±1000°/sec, see Table 12
±500°/sec, see Table 12
±250°/sec, see Table 12
−40°C ≤ TA ≤ +70°C
−40°C ≤ TA ≤ +70°C
Axis to axis
Axis to frame (package)
Best fit straight line
−40°C ≤ TA ≤ +70°C, 1 σ
1 σ, SMPL_PRD = 0x0001
1 σ, SMPL_PRD = 0x0001
−40°C ≤ TA ≤ +70°C
Any axis, 1 σ
−40°C ≤ TA ≤ +70°C
±1000°/sec range, no filtering
f = 25 Hz, ±1000°/sec range, no filtering
Max
1
±40
±0.05
±0.5
±0.1
0.5
14.5
0.66
0.005
0.015
0.2
0.27
0.0135
330
17.5
Unit
°/sec
°/sec/LSB
°/sec/LSB
°/sec/LSB
%
ppm/°C
Degrees
Degrees
% of FS
°/sec
°/hr
°/√hr
°/sec/°C
°/sec/g
°/sec/V
°/sec rms
°/sec/√Hz rms
Hz
kHz
Each axis
±18
See Table 16 for data format
−40°C ≤ TA ≤ +70°C
−40°C ≤ TA ≤ +70°C
Axis to axis
Axis to frame (package)
Best fit straight line
−40°C ≤ TA ≤ +70°C, 1 σ
1 σ, SMPL_PRD = 0x0001
1 σ, SMPL_PRD = 0x0001
−40°C ≤ TA ≤ +70°C
−40°C ≤ TA ≤ +70°C
No filtering
No filtering
25°C, see Table 20 for data format
Relative to 25°C, 1 σ
Axis to axis
Axis to frame (package)
Best fit straight line
25°C, 0 gauss stimulus
−40°C ≤ TA ≤ +70°C
25°C, no filtering, rms
25°C, no filtering, rms
−3 dB
Rev. B | Page 3 of 24
0.833
1
±40
0.2
±0.5
0.2
20
0.25
0.11
±0.15
5
5.1
0.23
330
5.5
±1.9
140.04
142.9
800
0.25
0.5
0.1
±4
0.11
2.4
0.4
25
145.76
g
mg/LSB
%
ppm/°C
Degrees
Degrees
% of FS
mg
mg
m/sec/√hr
mg/°C
mg/V
mg rms
mg/√Hz rms
Hz
kHz
gauss
µgauss/LSB
ppm/°C
Degrees
Degrees
% of FS
mgauss
mgauss/°C
mgauss
mgauss/√Hz
Hz
ADIS16448
Parameter
TEMPERATURE
Sensitivity
BAROMETERS
Pressure Range, Operating
Pressure Range Extended 3
Sensitivity
Voltage Dependence
Bias Supply Voltage Sensitivity
Total Error
Relative Error 4
Linearity 5
Noise
LOGIC INPUTS 6
Input High Voltage, VIH
Input Low Voltage, VIL
Logic 1 Input Current, IIH
Logic 0 Input Current, IIL
All Pins Except RST
RST Pin
Input Capacitance, CIN
DIGITAL OUTPUTS6
Output High Voltage, VOH
Output Low Voltage, VOL
FLASH MEMORY
Data Retention 8
FUNCTIONAL TIMES 9
Power-On Start-Up Time
Reset Recovery Time 10
Flash Memory Back-Up Time
Flash Memory Test Time
Automatic Self-Test Time
CONVERSION RATE
xGYRO_OUT, xACCL_OUT
xMAGN_OUT, BARO_OUT 11
Clock Accuracy
Sync Input Clock 12
POWER SUPPLY
Power Supply Current
Data Sheet
Test Conditions/Comments
Min
See Table 23
Typ
Max
0.07386
300
10
°C/LSB
1100
1200
0.02
0.18
3.24
1.5
2.5
0.1
0.2
0.08
25°C, 300 mbar to 1100 mbar
−40°C to +85°C, 300 mbar to 1100 mbar
25°C, 300 mbar to 1100 mbar
−40°C to +85°C, 300 mbar to 1100 mbar
2.0
VIH = 3.3 V
VIL = 0 V
±0.2
40
1
10
ISOURCE = 1.6 mA
ISINK = 1.6 mA
Endurance 7
TJ = 85°C
Time until new data is available
Unit
0.8
±10
60
2.4
0.4
10,000
20
mbar
mbar
mbar/LSB
%/V
mbar/V
mbar
mbar
% of FS
% of FS
mbar rms
V
V
µA
µA
mA
pF
V
V
Cycles
Years
SMPL_PRD = 0x0001
205
90
75
20
45
ms
ms
ms
ms
ms
SMPL_PRD = 0x0001
SMPL_PRD = 0x0001
819.2
51.2
SPS
SPS
%
kHz
V
mA
Operating voltage range, VDD
0.8
3.15
3.3
76
±3
1.1
3.45
104
The repeatability specifications represent analytical projections, which are based off of the following drift contributions and conditions: temperature hysteresis (−40°C
to +70°C), electronics drift (high-temperature operating life test: 85°C, 500 hours), drift from temperature cycling (JESD22, Method A104-C, Method N, 500 cycles,
−40°C to +85°C), rate random walk (10 year projection), and broadband noise.
2
Bias repeatability describes a long-term behavior, over a variety of conditions. Short-term repeatability is related to the in-run bias stability and noise density
specifications.
3
The extended pressure range is guaranteed by design.
4
The relative error assumes that the initial error, at 25°C, is corrected in the end application.
5
Linearity errors assume a full scale (FS) of 1000 mbar.
6
The digital I/O signals are driven by an internal 3.3 V supply, and the inputs are 5 V tolerant.
7
Endurance is qualified as per JEDEC Standard 22, Method A117, and measured at −40°C, +25°C, +85°C, and +125°C.
8
The data retention lifetime equivalent is at a junction temperature (TJ) of 85°C as per JEDEC Standard 22, Method A117. Data retention lifetime decreases with junction
temperature.
9
These times do not include thermal settling and internal filter response times (330 Hz bandwidth), which may affect overall accuracy.
10
The RST line must be held low for at least 10 μs to assure a proper reset and recovery sequence.
11
The xMAGN_OUT and BARO_OUT registers update at a rate that is 1/16th that of the other output registers.
12
The sync input clock functions below the specified minimum value but at reduced performance levels.
1
Rev. B | Page 4 of 24
Data Sheet
ADIS16448
TIMING SPECIFICATIONS
TA = 25°C, VDD = 3.3 V, unless otherwise noted.
Table 2.
Parameter
fSCLK
tSTALL
tREADRATE
t
tDAV
tDSU
tDHD
tSCLKR, tSCLKF
tDR, tDF
tSFS
t1
tSTDR
tNV
t3
CS
1
2
Min1
0.01
9
40
48.8
Description
Serial clock
Stall period between data
Read rate
Chip select to SCLK edge
DOUT valid after SCLK edge
DIN setup time before SCLK rising edge
DIN hold time after SCLK rising edge
SCLK rise/fall times, not shown in Timing Diagrams
DOUT rise/fall times, not shown in Timing Diagrams
CS high after SCLK edge
Input sync positive pulse width
Input sync to data ready valid transition
Data invalid time
Input sync period
Normal Mode
Typ
Max
2.0
Min1
0.01
N/A2
Burst Read
Typ
Max
1.0
Unit
MHz
μs
μs
ns
ns
ns
ns
ns
ns
ns
μs
μs
μs
μs
48.8
100
100
24.4
48.8
24.4
48.8
5
5
12.5
12.5
5
5
5
25
12.5
12.5
5
5
685
210
685
210
910
910
Guaranteed by design and characterization, but not tested in production.
When using the burst read mode, the stall period is not applicable.
Timing Diagrams
CS
tCS
tSFS
1
2
3
4
5
6
15
16
SCLK
tDAV
MSB
DB14
DB13
tDSU
DIN
R/W
A6
DB12
DB11
A4
A3
DB10
DB2
DB1
LSB
tDHD
A5
A2
D2
D1
09946-002
DOUT
LSB
Figure 2. SPI Timing and Sequence
tREADRATE
tSTALL
09946-003
CS
SCLK
Figure 3. Stall Time and Data Rate
t3
tSTDR
t1
DATA
READY
tNV
Figure 4. Input Clock Timing Diagram
Rev. B | Page 5 of 24
09946-004
CLOCK
ADIS16448
Data Sheet
ABSOLUTE MAXIMUM RATINGS
Table 3.
Parameter
Acceleration
Any Axis, Unpowered
Any Axis, Powered
VDD to GND
Digital Input Voltage to GND
Digital Output Voltage to GND
Temperature
Operating Range
Storage Range
Pressure
Rating
2000 g
2000 g
−0.3 V to +3.45 V
−0.3 V to +VDD + 0.3 V
−0.3 V to +VDD + 0.3 V
−40°C to +85°C
−65°C to +125°C1, 2
2 bar
Stresses above those listed under Absolute Maximum Ratings
may cause permanent damage to the device. This is a stress
rating only; functional operation of the device at these or any
other conditions above those indicated in the operational
section of this specification is not implied. Exposure to absolute
maximum rating conditions for extended periods may affect
device reliability.
Table 4. Package Characteristics
Package Type
20-Lead Module (ML-20-2)
Extended exposure to temperatures outside the specified temperature
range of −40°C to +105°C can adversely affect the accuracy of the factory
calibration. For best accuracy, store the parts within the specified operating
range of −40°C to +105°C.
2
Although the device is capable of withstanding short-term exposure to
150°C, long-term exposure threatens internal mechanical integrity.
1
ESD CAUTION
Rev. B | Page 6 of 24
θJA
(°C/W)
36.5
θJC
(°C/W)
16.9
Mass
(grams)
15
Data Sheet
ADIS16448
PIN CONFIGURATION AND FUNCTION DESCRIPTIONS
ADIS16448
20
18
16
14
12
10
8
6
4
2
PIN 1
USE THIS OPENING FOR
REMOTE PRESSURE SENSING.
HOLE IS TAPPED
FOR 10-32 SCREW THREADS.
09946-005
NOTES
1. THIS REPRESENTATION DISPLAYS THE TOP VIEW WHEN THE
CONNECTOR IS VISIBLE AND FACING UP.
2. MATING CONNECTOR: SAMTEC CLM-110-02 OR EQUIVALENT.
3. DNC = DO NOT CONNECT.
PIN 20
Figure 5. Pin Configuration
Figure 6. Pin Locations
Table 5. Pin Function Descriptions
Pin No.
1
2
3
4
5
6
7
8
9
10, 11, 12
13, 14, 15
16, 17, 18, 19, 20
1
Mnemonic
DIO3
DIO4/CLKIN
SCLK
DOUT
DIN
CS
DIO1
RST
DIO2
VDD
GND
DNC
Type 1
I/O
I/O
I
O
I
I
I/O
I
I/O
S
S
N/A
Description
Configurable Digital Input/Output.
Configurable Digital Input/Output or Sync Clock Input.
SPI Serial Clock.
SPI Data Output. Clocks the output on the SCLK falling edge.
SPI Data Input. Clocks the input on the SCLK rising edge.
SPI Chip Select.
Configurable Digital Input/Output.
Reset.
Configurable Digital Input/Output.
Power Supply.
Power Ground.
Do Not Connect. Do not connect to these pins.
S is supply, O is output, I is input, N/A is not applicable.
Rev. B | Page 7 of 24
09946-106
DIO3
1
DOUT
DIN
SCLK
3
DIO4/CLKIN
DIO1
5
CS
DIO2
7
RST
VDD
9
VDD
GND
11
VDD
GND
13
GND
DNC
15
DNC
17
DNC
19
DNC
DNC
TOP VIEW
(Not to Scale)
ADIS16448
Data Sheet
TYPICAL PERFORMANCE CHARACTERISTICS
10
1000
AVERAGE
ROOT ALLAN VARIANCE (mg)
100
+δ
10
–δ
1
+δ
0.1
1
0.01
0.1
1
10
100
TAU (Seconds)
1000
Figure 7. Gyroscope Root Allan Variance
0.01
0.01
0.1
1
10
100
TAU (Seconds)
Figure 8. Accelerometer Root Allan Variance
Rev. B | Page 8 of 24
1000
09946-128
–δ
09946-127
ROOT ALLAN VARIANCE (°/Hour)
AVERAGE
Data Sheet
ADIS16448
USER REGISTERS
Table 6. User Register Memory Map 1
Name
FLASH_CNT
Reserved
XGYRO_OUT
YGYRO_OUT
ZGYRO_OUT
XACCL_OUT
YACCL_OUT
ZACCL_OUT
XMAGN_OUT
YMAGN_OUT
ZMAGN_OUT
BARO_OUT
TEMP_OUT
XGYRO_OFF
YGYRO_OFF
ZGYRO_OFF
XACCL_OFF
YACCL_OFF
ZACCL_OFF
XMAGN_HIC
YMAGN_HIC
ZMAGN_HIC
XMAGN_SIC
YMAGN_SIC
ZMAGN_SIC
GPIO_CTRL
MSC_CTRL
SMPL_PRD
SENS_AVG
SEQ_CNT
DIAG_STAT
GLOB_CMD
ALM_MAG1
ALM_MAG2
ALM_SMPL1
ALM_SMPL2
ALM_CTRL
Reserved
LOT_ID1
LOT_ID2
PROD_ID
SERIAL_NUM
1
2
R/W
R
N/A
R
R
R
R
R
R
R
R
R
R
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R
R
W
R/W
R/W
R/W
R/W
R/W
N/A
R
R
R
R
Flash Backup
Yes
N/A
No
No
No
No
No
No
No
No
No
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes
Yes
Yes
N/A
No
N/A
Yes
Yes
Yes
Yes
Yes
N/A
Yes
Yes
Yes
Yes
Address 2
0x00
0x02
0x04
0x06
0x08
0x0A
0x0C
0x0E
0x10
0x12
0x14
0x16
0x18
0x1A
0x1C
0x1E
0x20
0x22
0x24
0x26
0x28
0x2A
0x2C
0x2E
0x30
0x32
0x34
0x36
0x38
0x3A
0x3C
0x3E
0x40
0x42
0x44
0x46
0x48
0x4A to 0x51
0x52
0x54
0x56
0x58
Default
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0006
0x0001
0x0402
N/A
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
N/A
N/A
N/A
0x4040
N/A
Function
Flash memory write count
N/A
X-axis gyroscope output
Y-axis gyroscope output
Z-axis gyroscope output
X-axis accelerometer output
Y-axis accelerometer output
Z-axis accelerometer output
X-axis magnetometer measurement
Y-axis magnetometer measurement
Z-axis magnetometer measurement
Barometer pressure measurement, high word
Temperature output
X-axis gyroscope bias offset factor
Y-axis gyroscope bias offset factor
Z-axis gyroscope bias offset factor
X-axis acceleration bias offset factor
Y-axis acceleration bias offset factor
Z-axis acceleration bias offset factor
X-axis magnetometer, hard iron factor
Y-axis magnetometer, hard iron factor
Z-axis magnetometer, hard iron factor
X-axis magnetometer, soft iron factor
Y-axis magnetometer, soft iron factor
Z-axis magnetometer, soft iron factor
Auxiliary digital input/output control
Miscellaneous control
Internal sample period (rate) control
Dynamic range and digital filter control
xMAGN_OUT and BARO_OUT counter
System status
System command
Alarm 1 amplitude threshold
Alarm 2 amplitude threshold
Alarm 1 sample size
Alarm 2 sample size
Alarm control
Reserved
Lot identification number
Lot identification number
Product identifier
Lot-specific serial number
Bit Assignments
See Table 32
See Table 9
See Table 10
See Table 11
See Table 13
See Table 14
See Table 15
See Table 17
See Table 18
See Table 19
See Table 21
See Table 23
See Table 37
See Table 38
See Table 39
See Table 40
See Table 41
See Table 42
See Table 43
See Table 44
See Table 45
See Table 46
See Table 47
See Table 48
See Table 33
See Table 30
See Table 34
See Table 35
See Table 36
See Table 31
See Table 25
See Table 49
See Table 50
See Table 51
See Table 52
See Table 53
See Table 26
See Table 27
See Table 28
See Table 29
N/A means not applicable.
Each register contains two bytes. The address of the lower byte is displayed. The address of the upper byte is equal to the address of the lower byte plus 1.
Rev. B | Page 9 of 24
ADIS16448
Data Sheet
USER INTERFACE
The ADIS16448 is an autonomous system that requires no user
initialization. When it has a valid power supply, it initializes itself
and starts sampling, processing, and loading sensor data into
the output registers at a sample rate of 819.2 SPS. DIO1 pulses
high after each sample cycle concludes. The SPI interface enables
simple integration with many embedded processor platforms,
as shown in Figure 9 (electrical connection) and Table 7 (pin
functions).
+3.3V
1
10µF
SS
6
CS
3
SCLK
MOSI
5
DIN
MISO
4
DOUT
IRQ
7
DIO1
The ADIS16448 provides two different options for acquiring
sensor data: single register and burst register. A single register
read requires two 16-bit SPI cycles. The first cycle requests the
contents of a register using the bit assignments in Figure 12.
Bit DC7 to Bit DC0 are don’t cares for a read, and then the output
register contents follow on DOUT during the second sequence.
Figure 10 includes three single register reads in succession. In
this example, the process starts with DIN = 0x0400 to request
the contents of XGYRO_OUT, then follows with 0x0600 to
request YGYRO_OUT and 0x0800 to request ZGYRO_OUT.
Full duplex operation enables processors to use the same 16-bit
SPI cycle to read data from DOUT while requesting the next set
of data on DIN. Figure 11 provides an example of the four SPI
signals when reading XGYRO_OUT in a repeating pattern.
12
14
15
09946-009
13
Figure 9. Electrical Connection Diagram
Table 7. Generic Master Processor Pin Names and Functions
Pin Name
SS
SCLK
MOSI
MISO
IRQ
For burst read, SCLK rate ≤ 1 MHz.
Function
Slave select
Serial clock
Master output, slave input
Master input, slave output
Interrupt request
DIN
0x0400
DOUT
0x0600
0x0800
XGYRO_OUT
YGYRO_OUT
ZGYRO_OUT
Figure 10. SPI Read Example
The ADIS16448 SPI interface supports full duplex serial communication (simultaneous transmit and receive) and uses the bit
sequence shown in Figure 12. Table 8 provides a list of the most
common settings that require attention to initialize the serial
port of a processor for the ADIS16448 SPI interface.
CS
SCLK
DIN
DIN = 0000 0100 0000 0000 = 0x0400
DOUT
DOUT = 1111 10011101 1010 = 0xF9DA = –1574 LSBs ≥ –62.96°/sec
Figure 11. Example SPI Read, Second 16-Bit Sequence
CS
DIN
R/W
D15
A6
A5
A4
A3
A2
A1
A0
DC7
DC6
DC5
DC4
DC3
DC2
DC1
DC0
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
NOTES
1. THE DOUT BIT PATTERN REFLECTS THE ENTIRE CONTENTS OF THE REGISTER IDENTIFIED BY [A6:A0]
IN THE PREVIOUS 16-BIT DIN SEQUENCE WHEN R/W = 0.
2. IF R/W = 1 DURING THE PREVIOUS SEQUENCE, DOUT IS NOT DEFINED.
Figure 12. SPI Communication Bit Sequence
Rev. B | Page 10 of 24
R/W
D15
A6
A5
D14
D13
09946-013
SCLK
DOUT
09946-010
11
ADIS16448
SCLK
Description
The ADIS16448 operates as a slave
Maximum serial clock rate
CPOL = 1 (polarity), CPHA = 1 (phase)
Bit sequence
Shift register/data length
READING SENSOR DATA
10
SYSTEM
PROCESSOR
SPI MASTER
Processor Setting
Master
SCLK Rate ≤ 2 MHz1
SPI Mode 3
MSB-First Mode
16-Bit Mode
09946-111
VDD
I/O LINES ARE COMPATIBLE WITH
3.3V OR 5V LOGIC LEVELS
Table 8. Generic Master Processor SPI Settings
Data Sheet
ADIS16448
Burst Read Function
DEVICE CONFIGURATION
The burst read function provides a way to read all of the data
in one continuous stream of bits (no stall time). As shown in
Figure 13, start this mode by setting DIN = 0x3E00, while
keeping CS low for 12 additional, 16-bit read cycles. These
12 cycles produce the following sequence of output registers
on DOUT: DIAG_STAT, XGYRO_OUT, YGYRO_OUT,
ZGYRO_OUT, XACCL_OUT, YACCL_OUT, ZACCL_OUT,
XMAGN_OUT, YMAGN_OUT, ZMAGN_OUT, BARO_OUT,
and TEMP_OUT.
The control registers in Table 6 provide users with a variety of
configuration options. The SPI provides access to these registers,
one byte at a time, using the bit assignments in Figure 12. Each
register has 16 bits, where Bits[7:0] represent the lower address,
and Bits[15:8] represent the upper address. Figure 15 provides
an example of writing 0x04 to Address 0x36 (SMPL_PRD[15:8],
using DIN = 0xB704. This example reduces the sample rate by a
factor of eight (see Table 34).
CS
1
2
3
CS
13
SCLK
SCLK
GLOB_CMD
DIAG_STAT
XGYRO_OUT
TEMP_OUT
DIN = 1011 0111 0000 0100 = 0xB704, WRITES 0x04 TO ADDRESS 0x37.
09946-113
DOUT
Figure 15. Example SPI Write Sequence
Dual Memory Structure
Figure 13. Burst Read Sequence
SPI Read Test Sequence
Figure 14 provides a test pattern for testing the SPI communication. In this pattern, write 0x5600 to the DIN line in a repeating
pattern and raise chip select for at least 9 μs between each 16-bit
sequence. Starting with the second 16-bit sequence, DOUT
produces the contents of the PROD_ID (see Table 28) register,
0x4040.
CS
SCLK
DIN = 0101 0110 0000 0000 = 0x5600
DOUT
DOUT = 0100 0000 0100 0000 = 0x4040 = 16,448
Writing configuration data to a control register updates its
SRAM contents, which are volatile. After optimizing each
relevant control register setting in a system, set GLOB_CMD[3]
= 1 (DIN = 0xBE08) to backup these settings in nonvolatile
flash memory. The flash backup process requires a valid power
supply level for the entire process time, 75 ms. Table 6 provides
a user register memory map that includes a flash backup
column. A yes in this column indicates that a register has a
mirror location in flash and, when backed up properly, it
automatically restores itself during startup or after a reset.
Figure 16 provides a diagram of the dual memory structure
used to manage operation and store critical user settings.
09946-011
MANUAL
FLASH
BACKUP
Figure 14. SPI Test Read Pattern DIN = 0x5600, DOUT = 0x4040
NONVOLATILE
FLASH MEMORY
VOLATILE
SRAM
(NO SPI ACCESS)
SPI ACCESS
START-UP
RESET
Figure 16. SRAM and Flash Memory Diagram
Rev. B | Page 11 of 24
09946-017
DIN
09 946-016
DIN
DIN
ADIS16448
Data Sheet
OUTPUT DATA REGISTERS
Each sensor in the ADIS16448 has a dedicated output register
in the user register map (see Table 6). Figure 17 provides
arrows, which describe the direction or rotation (gX, gY, gZ),
acceleration (aX, aY, aZ), and magnetic field (mX, mY, mZ) that
will produce a positive response in its output data.
ACCELEROMETERS
XACCL_OUT (see Table 13) contains x-axis accelerometer data
(aX in Figure 17), YACCL_OUT (see Table 14) contains y-axis
accelerometer data (aY in Figure 17), and ZACCL_OUT (see
Table 15) contains z-axis accelerometer data (aZ in Figure 17).
Table 16 illustrates the accelerometer data format with numerical
examples.
GYROSCOPES
XGYRO_OUT (see Table 9) contains x-axis gyroscope data (gX
in Figure 17), YGYRO_OUT (see Table 10) contains y-axis gyroscope data (gY in Figure 17), and ZGYRO_OUT (see Table 11)
contains z-axis gyroscope data (gZ in Figure 17). Table 12
illustrates the gyroscope data format with numerical examples.
Table 13. XACCL_OUT (Base Address = 0x0A), Read Only
Bits
[15:0]
Table 9. XGYRO_OUT (Base Address = 0x04), Read Only
Bits
[15:0]
Table 14. YACCL_OUT (Base Address = 0x0C), Read Only
Description
X-axis gyroscope data, twos complement format,
25 LSB/°/sec (SENS_AVG[15:8] = 0x04), 0°/sec = 0x0000
Bits
[15:0]
Table 10. YGYRO_OUT (Base Address = 0x06), Read Only
Bits
[15:0]
Bits
[15:0]
Acceleration (g)
+18
+2 ÷ 1200
+1 ÷ 1200
0
−1 ÷ 1200
−2 ÷ 1200
−18
Table 12. Rotation Rate, Twos Complement Format1
Hex
0x61A8
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0x9E58
Binary
0110 0001 1010 1000
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1001 1110 0101 1000
Decimal
+21,600
+2
+1
0
−1
−2
−21,600
Hex
0x5460
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0xABA0
SENS_AVG[15:8] = 0x04, see Table 35.
Z-AXIS
aZ
mZ
gZ
mX
Y-AXIS
X-AXIS
mY
aX
aY
gX
gY
09946-206
1
Decimal
+25,000
+2
+1
0
−1
−2
−25,000
Description
Z-axis acceleration data, twos complement format,
1200 LSB/g, 0 g = 0x0000
Table 16. Acceleration, Twos Complement Format
Description
Z-axis gyroscope data, twos complement format,
25 LSB/°/sec (SENS_AVG[15:8] = 0x04), 0°/sec = 0x0000
Rotation
Rate (°/sec)
+1000
+2 ÷ 25
+1 ÷ 25
0
−1 ÷ 25
−2 ÷ 25
−1000
Description
Y-axis acceleration data, twos complement format,
1200 LSB/g, 0 g = 0x0000
Table 15. ZACCL_OUT (Base Address = 0x0E), Read Only
Description
Y-axis gyroscope data, twos complement format,
25 LSB/°/sec (SENS_AVG[15:8] = 0x04), 0°/sec = 0x0000
Table 11. ZGYRO_OUT (Base Address = 0x08), Read Only
Bits
[15:0]
Description
X-axis acceleration data, twos complement format,
1200 LSB/g, 0 g = 0x0000
Figure 17. Inertial Sensor Direction Reference
Rev. B | Page 12 of 24
Binary
0101 0100 0101 0000
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1010 1011 1010 0000
Data Sheet
ADIS16448
MAGNETOMETERS
Table 22. Pressure, Binary, BARO_OUT
XMAGN_OUT (see Table 17) contains x-axis magnetometer
data (mX in Figure 17), YMAGN_OUT (see Table 18) contains
y-axis magnetometer data (mY in Figure 17), and ZMAGN_OUT
(see Table 19) contains z-axis magnetometer data (mZ in
Figure 17). Table 20 illustrates the magnetometer data format
with numerical examples. The lower four bits of each magnetometer output data register (xMAGN_OUT[3:0]) are not active
at the maximum update rate of 51.2 SPS. They become active
when using SMPL_PRD[12:8] to average and decimate the
data. The number of bits that become active is equal to the
decimation setting number in SMPL_PRD[12:8]. For example,
if SMPL_PRD[15:8] = 0x02, xMAGN_OUT[15:2] are active
and xMAGN_OUT[1:0] are inactive.
Pressure
1200 mbar
1100 mbar
1000 mbar
0.04 mbar
0.02 mbar
0 mbar
Decimal
60,000
55,000
50,000
2
1
0
Hex
0xEA60
0xD6D8
0xC350
0x0002
0x0001
0x0000
Binary
1110 1010 0110 0000
1101 0110 1101 1000
1100 0011 0101 0000
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
REMOTE PRESSURE SENSING
The ADIS16448 package offers a threaded hole (10-32) to
support remote pressure sensing. Figure 18 provides an example
of a fitting, which mates this hole to a barbed interface that
enables a tight connection with rubber tubing (1/8”).
Table 17. XMAGN_OUT (Base Address = 0x10), Read Only
Bits
[15:0]
Description
X-axis magnetic field intensity data, ±1.9 gauss
twos complement, 7 LSB/mgauss, 0x0000 = 0 mgauss
Table 18. YMAGN_OUT (Base Address = 0x12), Read Only
Description
Y-axis magnetic field intensity data, ±1.9 gauss
twos complement, 7 LSB/mgauss, 0x0000 = 0 mgauss
09946-219
Bits
[15:0]
Table 19. ZMAGN_OUT (Base Address = 0x14), Read Only
Bits
[15:0]
Description
Z-axis magnetic field intensity data, ±1.9 gauss
twos complement, 7 LSB/mgauss, 0x0000 = 0 mgauss
Table 20. Magnetometer, Twos Complement Format
Magnetic Field
(mgauss)
+1900
+2 ÷ 7
+1 ÷ 7
0
+1 ÷ 7
+2 ÷ 7
−1900
Decimal
+13,300
+2
+1
0
−1
−2
−13,300
Hex
0x33F4
0x0002
0x0001
0x0000
0xFFFF
0xFFFE
0xCC0C
Binary
0011 0011 1111 0100
0000 0000 0000 0010
0000 0000 0000 0001
0000 0000 0000 0000
1111 1111 1111 1111
1111 1111 1111 1110
1100 1100 0000 1100
BARO_OUT (see Table 21) contains the barometric pressure
data. Table 22 provides several numerical format examples for
BARO_OUT.
Bits
[15:0]
Description
Barometric pressure data, binary data format,
20 µbar per LSB, 0x0000 = 0 mbar
INTERNAL TEMPERATURE
The internal temperature measurement data loads into the
TEMP_OUT (see Table 23) register. Table 24 illustrates the
temperature data format. Note that this temperature represents an internal temperature reading, which will not precisely
represent external conditions. The intended use of TEMP_OUT
is to monitor relative changes in temperature.
Table 23. TEMP_OUT (Base Address = 0x18), Read Only
Bits
[15:12]
[11:0]
Description
Not used
Twos complement, 0.07386°C/LSB, 31°C = 0x000
Table 24. Temperature, Twos Complement Format
BAROMETRIC PRESSURE
Table 21. BARO_OUT (Base Address = 0x16), Read Only
Figure 18. Barb Fitting for Remote Pressure Sensing
Temperature (°C)
+105
+85
+31.14772
+31.07386
+31
+30.92614
+30.85228
−40
Rev. B | Page 13 of 24
Decimal
+1002
+731
+2
+1
0
−1
−2
−962
Hex
3EA
2DB
2
0
0
FFF
FFE
C3E
Binary
0011 1110 1010
0010 1101 1011
0000 0000 0010
0000 0000 0001
0000 0000 0000
1111 1111 1111
1111 1111 1110
1100 0011 1110
ADIS16448
Data Sheet
SYSTEM FUNCTIONS
GLOBAL COMMANDS
SELF-TEST FUNCTION
The GLOB_CMD register in Table 25 provides trigger bits
for software reset, flash memory management, and calibration
control. Start each of these functions by writing a 1 to the assigned
bit in GLOB_CMD. After completing the task, the bit automatically returns to 0. For example, set GLOB_CMD[7] = 1 (DIN =
0xBE80) to initiate a software reset. Set GLOB_CMD[3] = 1 (DIN
= 0xBE08) to back up the user register contents in nonvolatile
flash. This sequence includes loading the control registers with
the data in their respective flash memory locations prior to
producing new data.
The MSC_CTRL register in Table 30 provides a self-test function
for the gyroscopes, accelerometers, magnetometers, and
barometers. Note that the magnetometer results assume that
the non-earth magnetic fields are low, in comparison to the
earth’s magnetic field. This function allows the user to verify
the mechanical integrity of each MEMS sensor. When enabled,
the self test applies an electrostatic force to each internal sensor
element, which causes them to move. The movement in each
element simulates its response to actual rotation/acceleration
and generates a predictable electrical response in the sensor outputs.
Set MSC_CTRL[10] = 1 (DIN = 0xB504) to activate the internal self
test routine, which compares the response to an expected range of
responses and reports a pass/fail response to DIAG_STAT[5]. If this
is high, review DIAG_STAT[15:10] to identify the failing sensor.
Table 25. GLOB_CMD (Base Address = 0x3E), Write Only
Bits
[15:8]
7
[6:4]
3
2
1
0
Description (Default = 0x0000)
Not used
Software reset
Not used
Flash update
Not used
Factory calibration restore
Gyroscope bias correction
Table 30. MSC_CTRL (Base Address = 0x34), Read/Write
Bits
[15:12]
11
10
PRODUCT IDENTIFICATION
The PROD_ID register in Table 28 contains the binary equivalent
of 16,448. It provides a product specific variable for systems that
need to track this in their system software. The LOT_ID1 and
LOT_ID2 registers in Table 26 and Table 27 combine to provide
a unique, 32-bit lot identification code. The SERIAL_NUM
register in Table 29 contains a binary number that represents
the serial number on the device label. The assigned serial
numbers in SERIAL_NUM are lot specific.
[9:8]
7
6
[5:3]
2
1
Table 26. LOT_ID1 (Base Address = 0x52), Read Only
Bits
[15:0]
Description
Lot identification, binary code
0
Table 27. LOT_ID2 (Base Address = 0x54), Read Only
Bits
[15:0]
1
The bit is automatically reset to 0 after finishing the test.
Description
Lot identification, binary code
Table 28. PROD_ID (Base Address = 0x56), Read Only
Bits
[15:0]
Description (Default = 0x4040)
Product identification = 0x4040
Table 29. SERIAL_NUM (Base Address = 0x58), Read Only
Bits
[15:12]
[11:0]
Description (Default = 0x0006)
Not used
Checksum memory test (cleared upon completion) 1
1 = enabled, 0 = disabled
Internal self test (cleared upon completion)1
1 = enabled, 0 = disabled
Do not use, always set to 00
Not used
Point of percussion, see Figure 22
1 = enabled, 0 = disabled
Not used
Data ready enable
1 = enabled, 0 = disabled
Data ready polarity
1 = active high when data is valid
0 = active low when data is valid
Data ready line select
1 = DIO2, 0 = DIO1
Description
Reserved
Serial number, 1 to 4094 (0xFFE)
Rev. B | Page 14 of 24
Data Sheet
ADIS16448
Magnetometer/Barometer New Data Indicator
STATUS/ERROR FLAGS
The DIAG_STAT register in Table 31 provides error flags for
a number of functions. Each flag uses 1 to indicate an error condition and 0 to indicate a normal condition. Reading this register
provides access to the status of each flag and resets all of the bits
to 0 for monitoring future operation. If the error condition remains,
the error flag returns to 1 at the conclusion of the next sample
cycle. DIAG_STAT[0] does not require a read of this register
to return to 0. If the power supply voltage goes back into range,
this flag clears automatically. The SPI communication error flag
in DIAG_STAT[3] indicates that the number of SCLKs in a SPI
sequence did not equal a multiple of 16 SCLKs.
Table 31. DIAG_STAT (Base Address = 0x3C), Read Only
Bits
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Description (Default = 0x0000)
Z-axis accelerometer self-test failure
1 = fail, 0 = pass
Y-axis accelerometer self-test failure
1 = fail, 0 = pass
X-axis accelerometer self-test failure
1 = fail, 0 = pass
Z-axis gyroscope self-test failure
0 = pass
Y-axis gyroscope self-test failure
1 = fail, 0 = pass
X-axis gyroscope self-test failure
1 = fail, 0 = pass
Alarm 2 status
1 = active, 0 = inactive
Alarm 1 status
1 = active, 0 = inactive
New data, xMAGN_OUT/BARO_OUT
Flash test, checksum flag
1 = fail, 0 = pass
Self-test diagnostic error flag
1 = fail, 0 = pass
Sensor overrange
1 = overrange, 0 = normal
SPI communication failure
1 = fail, 0 = pass
Flash update failure
1 = fail, 0 = pass
Barometer functional test
1 = fail, 0 = pass
Magnetometer functional test
1 = fail, 0 = pass
DIAG_STAT[7] indicates that all four registers have new,
unread data in them. This bit rises to 1 after the xMAGN_OUT
and BARO_OUT registers have new data updates. It lowers to
zero after one of the registers are accessed using a SPI-driven
read command. This bit does not return to zero after reading
DIAG_STAT.
MEMORY MANAGEMENT
The FLASH_CNT register in Table 32 provides a 16-bit counter
that helps track the number of write cycles to the nonvolatile flash
memory. The flash updates every time a manual flash update
occurs. A manual flash update is initiated by the GLOB_CMD[3]
bit and is performed at the completion of the GLOB_CMD[1:0]
functions (see Table 25).
Table 32. FLASH_CNT (Base Address = 0x00), Read Only
Bits
[15:0]
Description
Binary counter
Checksum Test
Set MSC_CTRL[11] = 1 (DIN = 0xB508) to perform a checksum test of the internal program memory. This function takes
a summation of the internal program memory and compares it
with the original summation value for the same locations (from
factory configuration). If the sum matches the correct value,
DIAG_STAT[6] is equal to 0. If it does not match,
DIAG_STAT[6] is equal to 1. Make sure that the power supply
is within specification for the entire 20 ms that this function
takes to complete.
Rev. B | Page 15 of 24
ADIS16448
Data Sheet
INPUT/OUTPUT CONFIGURATION
DATA READY INDICATOR
Table 33. GPIO_CTRL (Base Address = 0x32), Read/Write
The data ready indicator provides a signal that indicates
when the registers are updating, so that system processors can
avoid data collision, a condition when internal register updates
happen at the same time that an external processor requests it.
The data ready signal has valid and invalid states. Using the
transition from invalid to valid to trigger an interrupt service
routine provides the most time for data acquisition (before the
next register update). See Figure 4 and Table 2 for specific
timing information. MSC_CTRL[2:0] (see Table 30) provide
control bits for enabling this function, selecting the polarity
of the valid state and I/O line assignment (DIO1, DIO2). The
factory default setting of MSC_CTRL[2:0] = 110 (DIN =
0xB406) establishes DIO1 as a data ready output line and assigns
the valid state with a logic high (1). Set MSC_CTRL[2:0] = 100
(DIN = 0xB404) to change the polarity of the data ready signal on
DIO1 for interrupt inputs that require negative logic inputs for
activation.
Bits
[15:12]
11
10
9
8
[7:4]
3
GENERAL-PURPOSE INPUT/OUTPUT
For example, set GPIO_CTRL[3:0] = 0100 (DIN = 0xB204)
to set DIO3 as an output signal pin and DIO1, DIO2, and
DIO4 as input signal pins. Set the output on DIO3 to 1 by
setting GPIO_CTRL[10] = 1 (DIN = 0xB304). Then, read
GPIO_CTRL[7:0] (DIN = 0x3200) and mask off GPIO_CTRL[9:8]
and GPIO_CTRL[11] to monitor the digital signal levels on
DIO4, DIO2, and DIO1.
DIO1, DIO2, DIO3, and DIO4 are configurable, general-purpose
input/output lines that serve multiple purposes. The data
ready controls in MSC_CTRL[2:0] have the highest priority
for configuring DIO1 and DIO2. The alarm indicator controls in
ALM_CTRL[2:0] have the second highest priority for configuring
DIO1 and DIO2. The external clock control associated with
SMPL_PRD[0] has the highest priority for DIO4 configuration
(see Table 34). GPIO_CTRL in Table 33 has the lowest priority
for configuring DIO1, DIO2, and DIO4, and has absolute
control over DIO3.
2
1
0
Description (Default = 0x0000)
Not used
General-Purpose I/O Line 4 (DIO4) data level
General-Purpose I/O Line 3 (DIO3) data level
General-Purpose I/O Line 2 (DIO2) data level
General-Purpose I/O Line 1 (DIO1) data level
Not used
General-Purpose I/O Line 4 (DIO4) direction control
1 = output, 0 = input
General-Purpose I/O Line 3 (DIO3) direction control
1 = output, 0 = input
General-Purpose I/O Line 2 (DIO2) direction control
1 = output, 0 = input
General-Purpose I/O Line 1 (DIO1) direction control
1 = output, 0 = input
Example Input/Output Configuration
Rev. B | Page 16 of 24
Data Sheet
ADIS16448
DIGITAL PROCESSING CONFIGURATION
GYROSCOPES/ACCELEROMETERS
0
Figure 20 provides a diagram that describes all signal-processing
components for the gyroscopes and accelerometers. The internal
sampling system produces new data in the xGYRO_OUT and
xACCL_OUT output data registers at a rate of 819.2 SPS. The
SMPL_PRD register in Table 34 provides two functional controls
that affect sampling and register update rates. SMPL_PRD[12:8]
provides a control for reducing the update rate, using an averaging
filter with a decimated output. These bits provide a binomial
control that divides the data rate by a factor of 2 every time this
number increases by 1. For example, set SMPL_PRD[15:8] =
0x04 (DIN = 0xB704) to set the decimation factor to 16. This
reduces the update rate to 51.2 SPS and the bandwidth to
~25 Hz. The SMPL_PRD[12:8] setting affects the update rate
for the TEMP_OUT register (see Table 23) as well.
–20
MAGNITUDE (dB)
–40
–80
–100
–140
0.001
Dynamic Range
The SENS_AVG[10:8] bits provide three dynamic range
settings for the gyroscopes. The lower dynamic range settings
(±250°/sec and ±500°/sec) limit the minimum filter tap sizes
to maintain resolution. For example, set SENS_AVG[10:8] =
010 (DIN = 0xB902) for a measurement range of ±500°/sec.
Because this setting can influence the filter settings, program
SENS_AVG[10:8] before programming SENS_AVG[2:0] if more
filtering is required.
SMPL_PRD[0] (see Table 34) provides a control for synchronizing the internal sampling to an external clock source. Set
SMPL_PRD[0] = 0 (DIN = 0xB600) and GPIO_CTRL[3] = 0
(DIN = 0xB200) to enable the external clock. See Table 2 and
Figure 4 for timing information.
Table 35. SENS_AVG (Base Address = 0x38), Read/Write
Description (Default = 0x0402)
Not used
Measurement range (sensitivity) selection
100 = ±1000°/sec (default condition)
010 = ±500°/sec, filter taps ≥ 4 (Bits[2:0] ≥ 0x02)
001 = ±250°/sec, filter taps ≥ 16 (Bits[2:0] ≥ 0x04)
Not used
Filter Size Variable B
Number of taps in each stage; NB = 2B
See Figure 19 for filter response
The SENS_AVG register in Table 35 provides user controls for
the low-pass filter. This filter contains two cascaded averaging
filters that provide a Bartlett window, FIR filter response (see
Figure 20). For example, set SENS_AVG[2:0] = 100 (DIN = 0xB804)
to set each stage to 16 taps. When used with the default sample
rate of 819.2 SPS and zero decimation (SMPL_PRD[15:8] = 0x00),
this value reduces the sensor bandwidth to approximately 16 Hz.
[7:3]
[2:0]
BARTLETT WINDOW
FIR FILTER
1
NB
GYROSCOPES
LOW-PASS, TWO-POLE (404Hz, 757Hz)
ACCELEROMETERS
LOW-PASS, SINGLE-POLE (330Hz)
CLOCK
819.2SPS
NB
x(n)
n=1
1
NB
NB
x(n)
n=1
B = SENS_AVG[2:0]
NB = 2B
NB = NUMBER OF TAPS
(PER STAGE)
AVERAGE/
DECIMATION
FILTER
1
ND
÷ND
x(n)
n=1
D = SMPL_PRD[12:8]
ND = 2D
ND = NUMBER OF TAPS
EXTERNAL CLOCK ENABLED
BY SMPL_PRD[0] = 0
Figure 20. Sampling and Frequency Response Block Diagram
Rev. B | Page 17 of 24
ND
09946-019
Bits
[15:11]
[10:8]
Digital Filtering
ADC
1
Figure 19. Bartlett Window, FIR Filter Frequency Response
(Phase Delay = N Samples)
INPUT CLOCK CONFIGURATION
LOW-PASS
FILTER
330Hz
0.1
FREQUENCY (f/fS)
Description (Default = 0x0001)
Not used
D, decimation rate setting, binomial, see Figure 20
Not used
Clock
1 = internal sampling clock, 819.2 SPS
0 = external sampling clock
MEMS
SENSOR
0.01
09946-018
N=2
N=4
N = 16
N = 64
–120
Table 34. SMPL_PRD (Base Address = 0x36), Read/Write
Bits
[15:13]
[12:8]
[7:1]
0
–60
ADIS16448
Data Sheet
MAGNETOMETER/BAROMETER
The magnetometer (xMAGN_OUT) and barometer output
registers (BARO_OUT) update at a rate of 51.2 SPS. When
using the external clock, these registers update at a rate of 1/16th
of the input clock frequency. The update rates for the magnetometer and barometers do not change with the SMPL_PRD
[15:8] register settings, unless SMPL_PRD[15:8] > 0x04.
New-Data Indicators
DIAG_STAT[7] (see Table 31) offers a new data bit for the
magnetometer (xMAGN_OUT) and barometer output registers
(BARO_OUT) registers. This bit rises to a 1, right after the
xMAGN_OUT and BARO_OUT registers receive fresh data.
It returns to 0 after one of the four registers experiences a
read request.
at a value of 16 and decrement every time the gyroscope data
updates. When it reaches a value of 1, it will return to a value
16 after the next gyroscope update cycle. When SEQ_CNT
equals 16, the magnetometer (xMAGN_OUT) and barometer
(BARO_OUT) registers contain new data. The SEQ_CNT
register can be useful during initialization to help synchronize
read loops for new data in both magnetometer and barometer
outputs. When beginning a continuous read loop, read SEQ_CNT
to determine the number of sample cycles that must pass, before
the magnetometer and barometer registers update.
Table 36. SEQ_CNT (Base Address = 0x3A), Read Only
Bits
[15:11]
[6:0]
The SEQ_CNT register (see Table 36) provides a counter
function to help determine when there is new data in the
magnetometer and barometer registers. When using the full
sample rate (SMPL_PRD[15:8] = 0x00), SEQ_CNT will start
Rev. B | Page 18 of 24
Description
Don’t care
Binary counter: 16 to 1, when D = 0
Counter range = 16/2D – 1, when 1 ≤ D ≤ 4
See Table 34 for more information on D
Data Sheet
ADIS16448
CALIBRATION
The mechanical structure and assembly process of the ADIS16448
provide excellent position and alignment stability for each sensor,
even after subjected to temperature cycles, shock, vibration, and
other environmental conditions. The factory calibration includes a
dynamic characterization of each gyroscope and accelerometer over
temperature and generates sensor specific correction formulas.
GYROSCOPES
The XGYRO_OFF (see Table 37), YGYRO_OFF (see Table 38),
and ZGYRO_OFF (see Table 39) registers provide userprogrammable bias adjustment function for the X-, Y-, and
Z-axis gyroscopes, respectively. Figure 21 illustrates that they
contain bias correction factors that adjust to the sensor data
immediately before it loads into the output register.
ADC
FACTORY
CALIBRATION
AND
FILTERING
xGYRO_OUT
xACCL_OUT
xGYRO_OFF
xACCL_OFF
Figure 21. User Calibration, Gyroscopes, and Accelerometers
Gyroscope Bias Error Estimation
Any system level calibration function must start with an estimate
of the bias errors, which typically comes from a sample of gyroscope output data, when the device is not in motion. The sample
size of data depends on the accuracy goals. Figure 7 provides a
trade-off relationship between averaging time and the expected
accuracy of a bias measurement. Vibration, thermal gradients,
and power supply instability can influence the accuracy of this
process.
Table 37. XGYRO_OFF (Base Address = 0x1A), Read/Write
Bits
[15:0]
Description (Default = 0x0000)
X-axis, gyroscope offset correction factor,
twos complement, 0.01°/sec/LSB, 0°/sec = 0x0000
Description (Default = 0x0000)
Y-axis, gyroscope offset correction factor,
twos complement, 0.01°/sec/LSB, 0°/sec = 0x0000
2.
3.
4.
Set SENS_AVG[10:8] = 001 (DIN = 0xB901) to optimize
the xGYRO_OUT sensitivity to 0.01°/sec/LSB.
Set SMPL_PRD[12:8] = 0x10 (DIN = 0xB710) to set the
decimation rate to 65,536 (216), which provides an averaging
time of 80 seconds (65,536 ÷ 819.2 SPS).
Wait for 80 seconds while keeping the device motionless.
Set GLOB_CMD[0] = 1 (DIN = 0xBE01) and wait for the
time it takes to perform the flash memory backup.
The XACCL_OFF (see Table 40), YACCL_OFF (see Table 41),
and ZACCL_OFF (see Table 42) registers provide user
programmable bias adjustment function for the X-, Y-, and
Z-axis accelerometers, respectively. These registers adjust the
accelerometer data in the same manner as XGYRO_OFF in
Figure 21.
Table 40. XACCL_OFF (Base Address = 0x20), Read/Write
Bits
[15:0]
Description (Default = 0x0000)
X-axis, accelerometer offset correction factor,
twos complement, 1/1200 g/LSB, 0 g = 0x0000
Table 41. YACCL_OFF (Base Address = 0x22), Read/Write
Bits
[15:14]
[13:0]
Description (Default = 0x0000)
Not used
Y-axis, accelerometer offset correction factor,
twos complement, 1/1200 g/LSB, 0 g = 0x0000
Bits
[15:14]
[13:0]
Description (Default = 0x0000)
Not used
Z-axis, accelerometer offset correction factor,
twos complement, 1/1200 g/LSB, 0 g = 0x0000
Accelerometer Bias Error Estimation
Table 39. ZGYRO_OFF (Base Address = 0x1E), Read/Write
Bits
[15:0]
1.
Table 42. ZACCL_OFF (Base Address = 0x24), Read/Write
Table 38. YGYRO_OFF (Base Address = 0x1C), Read/Write
Bits
[15:0]
GLOB_CMD[0] (see Table 25) loads the xGYRO_OFF registers
with the values that are the opposite of the values that are in
xGYRO_OUT, at the time of initiation. Use this command,
together with the decimation filter (SMPL_PRD[12:8], see
Table 34), to automatically average the gyroscope data and
improve the accuracy of this function, as follows:
ACCELEROMETERS
09946-020
MEMS
SENSOR
Single Command Bias Correction
Description (Default = 0x0000)
Z-axis, gyroscope offset correction factor,
twos complement, 0.01°/sec/LSB, 0°/sec = 0x0000
Gyroscope Bias Correction Factors
When the bias estimate is complete, multiply the estimate by −1
to change its polarity, convert it into digital format for the offset
correction registers (see Table 37, Table 38, and Table 39), and
write the correction factors to the correction registers. For
example, lower the X-axis bias by 10 LSB (0.1°/sec) by setting
XGYRO_OFF = 0xFFF6 (DIN = 0x9BFF, 0x9AF6).
Under static conditions, orient each accelerometer in positions
where the response to gravity is predictable. A common approach
to this is to measure the response of each accelerometer when
they are oriented in peak response positions, that is, where ±1 g
is the ideal measurement position. Next, average the +1 g and
−1 g accelerometer measurements together to estimate the
residual bias error. Using more points in the rotation can
improve the accuracy of the response.
Rev. B | Page 19 of 24
ADIS16448
Data Sheet
Accelerometer Bias Correction Factors
Table 45. ZMAGN_HIC (Base Address = 0x2A), Read/Write
When the bias estimate is complete, multiply the estimate by
−1 to change its polarity, convert it to the digital format for the
offset correction registers (see Table 40, Table 41 or Table 42)
and write the correction factors to the correction registers. For
example, lower the x-axis bias by 12 LSB (10 mg) by setting
XACCL_OFF = 0xFFF4 (DIN = 0xA1FF, 0xA0F4).
Bits
[15:0]
Point of Percussion Alignment
1.
2.
Description (Default = 0x0000)
Z-axis hard iron correction factor,
twos complement, 7 LSB/mgauss, 0x0000 = 0 mgauss
Hard Iron Factors
When the hard iron error estimation is complete, take the
following steps:
Set MSC_CTRL[6] = 1 (DIN = 0xB446) to enable this feature
and maintain the factory default settings for DIO1. This feature
performs a point of percussion translation to the point identified
in Figure 22. See Table 30 for more information on MSC_CTRL.
3.
Multiply the estimate by −1 to change its polarity.
Convert it into digital format for the hard iron correction
registers (see Table 43).
Write the correction factors to the registers. For example,
lower the x-axis bias by 10 LSB (~1.429 mgauss) by setting
XMAGN_HIC = 0xFFF6 (DIN = 0xA7FF, 0xA6F6)
Soft Iron Effects
The XMAGN_SIC (see Table 46), YMAGN_SIC (see Table 47),
and ZMAGN_SIC (see Table 48) registers provide an adjustment variable for the magnetometer sensitivity adjustment
in each magnetometer response to simplify the process of
performing a system level soft iron correction.
Table 46. XMAGN_SIC (Base Address = 0x2C), Read/Write
09946-119
ORIGIN ALIGNMENT
REFERENCE POINT
SEE MSC_CTRL[6].
Bits
[15:0]
Figure 22. Point of Percussion Physical Reference
MAGNETOMETER CALIBRATION
Table 47. YMAGN_SIC (Base Address = 0x2E), Read/Write
The ADIS16448 provides registers that contribute to both hard
iron and soft iron correction factors, as shown in Figure 23.
Bits
[15:0]
1 + xMAGN_SIC
ADC
FACTORY
CALIBRATION
AND FILTERING
xMAGN_OUT
09946-022
MAGNETIC
SENSOR
xMAGN_HIC
Figure 23. Hard Iron and Soft Iron Factor Correction
Bits
[15:0]
Description (Default = 0x0000)
X-axis hard iron correction factor,
twos complement, 7 LSB/mgauss, 0x0000 = 0
Description (Default = 0x0000)
Y-axis hard iron correction factor,
twos complement, 7 LSB/mgauss, 0x0000 = 0
When using the user calibration registers to optimize system
level accuracy, set GLOB_CMD[3] = 1 (DIN = 0xBE04) to save
these settings in nonvolatile flash memory. Be sure to consider
the endurance rating of the flash memory when determining how
often to update the user correction factors in the flash memory.
RESTORING FACTORY CALIBRATION
Table 44. YMAGN_HIC (Base Address = 0x28), Read/Write
Bits
[15:0]
Description (Default = 0x8000)
Z-axis soft iron correction factor,
twos complement format, 1 LSB = 100%/32,767
0x7FFF = 100% increase (2×)
0x8000 = 100% decrease (0×)
FLASH UPDATES
Table 43. XMAGN_HIC (Base Address = 0x26), Read/Write
Bits
[15:0]
Description (Default = 0x8000)
Y-axis soft iron correction factor,
twos complement format, 1 LSB = 100%/32,767
0x7FFF = 100% increase (2×)
0x8000 = 100% decrease (0×)
Table 48. ZMAGN_SIC (Base Address = 0x30), Read/Write
Hard Iron Correction
The XMAGN_HIC (see Table 43), YMAGN_HIC (see
Table 44), and ZMAGN_HIC (see Table 45) registers provide
the user programmable bias adjustment function for the X-, Y-,
and Z-axis magnetometers, respectively. Hard iron effects
result in an offset of the magnetometer response.
Description (Default = 0x8000)
X-axis soft iron correction factor,
twos complement format, 1 LSB = 100%/32,767
0x7FFF = 100% increase (2×)
0x8000 = 100% decrease (0×)
Set GLOB_CMD[1] = 1 (DIN = 0xBE02) to execute the factory
calibration restore function, which resets the gyroscope and accelerometer offset registers to 0x0000 and all sensor data to 0. Then, it
automatically updates the flash memory and restarts sampling and
processing data. See Table 25 for information on GLOB_CMD.
Rev. B | Page 20 of 24
Data Sheet
ADIS16448
ALARMS
Table 53. ALM_CTRL (Base Address = 0x48), Read/Write
Alarm 1 and Alarm 2 provide two independent alarms with
programmable levels, polarity, and data sources.
Bits
[15:12]
STATIC ALARM USE
The static alarms setting compares the data source selection
(ALM_CTRL[15:8]) with the values in the ALM_MAGx registers
listed in Table 49 and Table 50, using ALM_MAGx[15] to determine the trigger polarity. The data format in these registers
matches the format of the data selection in ALM_CTRL[15:8].
See Table 54, Alarm 1, for a static alarm configuration example.
Table 49. ALM_MAG1 (Base Address = 0x40), Read/Write
Bits
[15:0]
Description (Default = 0x0000)
Threshold setting; matches for format of
ALM_CTRL[11:8] output register selection
Table 50. ALM_MAG2 (Base Address = 0x42), Read/Write
Bits
[15:0]
Description (Default = 0x0000)
Threshold setting; matches for format of
ALM_CTRL[15:12] output register selection
DYNAMIC ALARM USE
The dynamic alarm setting monitors the data selection for a
rate-of-change comparison. The rate-of-change comparison is
represented by the magnitude in the ALM_MAGx registers over
the time represented by the number-of-samples setting in the
ALM_SMPLx registers, located in Table 51. See Table 54, Alarm 2,
for a dynamic alarm configuration example.
Table 51. ALM_SMPL1 (Base Address = 0x44), Read/Write
Bits
[15:8]
[7:0]
Description (Default = 0x0000)
Not used
Binary, number of samples (both 0x00 and 0x01 = 1)
Table 52. ALM_SMPL2 (Base Address = 0x46), Read/Write
Bits
[15:8]
[7:0]
Description (Default = 0x0000)
Not used
Binary, number of samples (both 0x00 and 0x01 = 1)
ALARM REPORTING
The DIAG_STAT[9:8] bits provide error flags that indicate an
alarm condition. The ALM_CTRL[2:0] bits provide controls
for a hardware indicator using DIO1 or DIO2.
[11:8]
7
6
5
4
3
2
1
0
Description (Default = 0x0000)
Alarm 2 data source selection
0000 = disable
0001 = XGYRO_OUT
0010 = YGYRO_OUT
0011 = ZGYRO_OUT
0100 = XACCL_OUT
0101 = YACCL_OUT
0110 = ZACCL_OUT
0111 = XMAGN_OUT
1001 = YMAGN_OUT
1010 = ZMAGN_OUT
1011 = BARO_OUT
1100 = TEMP_OUT
Alarm 1 data source selection (same as Alarm 2)
Alarm 2, dynamic/static (1 = dynamic, 0 = static)
Alarm 1, dynamic/static (1 = dynamic, 0 = static)
Alarm 2, polarity (1 = greater than ALM_MAG2)
Alarm 1, polarity (1 = greater than ALM_MAG1)
Data source filtering (1 = filtered, 0 = unfiltered)
Alarm indicator (1 = enabled, 0 = disabled)
Alarm indicator active polarity (1 = high, 0 = low)
Alarm output line select (1 = DIO2, 0 = DIO1)
Alarm Example
Table 54 offers an example that configures Alarm 1 to trigger when
filtered ZACCL_OUT data drops below 0.7 g and Alarm 2 to
trigger when filtered ZGYRO_OUT data changes by more than
50°/sec over a 100 ms period, or 500°/sec2. The filter setting
helps reduce false triggers from noise and refines the accuracy
of the trigger points. The ALM_SMPL2 setting of 82 samples
provides a comparison period that is approximately equal to
100 ms for an internal sample rate of 819.2 SPS.
Table 54. Alarm Configuration Example
DIN
0xCD36,
0xCCAF
0xC704,
0xC6E2
0xC503,
0xC448
0xC866
Rev. B | Page 21 of 24
Description
ALM_CTRL = 0x36AF
Alarm 2: dynamic, Δ-ZGYRO_OUT
(Δ-time, ALM_SMPL2) > ALM_MAG2
Alarm 1: static, ZACCL_OUT < ALM_MAG1, filtered data
DIO2 output indicator, positive polarity
ALM_MAG2 = 0x04E2 = 1,250 LSB = 50°/sec
ALM_MAG1 = 0x0348 = 840 LSB = +0.7 g
ALM_SMPL2[7:0] = 0x52 = 82 samples
82 samples ÷ 819.2 SPS = ~100 ms
ADIS16448
Data Sheet
APPLICATIONS INFORMATION
POWER SUPPLY CONSIDERATIONS
Installation
The power supply must be within 3.15 V and 3.45 V for normal
operation and optimal performance. During start up, the
internal power conversion system starts drawing current when
VDD reaches 1.6 V. The internal processor begins initializing
when VDD is equal to 2.35 V. After the processor starts, VDD
must reach 2.7 V within 128 ms. Also, make sure that the power
supply drops below 1.6 V to shut the device down. Figure 9
shows a 10 μF capacitor on the power supply. Using this
capacitor supports optimal noise performance in the sensors.
The following steps provide an example installation process for
using these three components:
ADIS16448/PCBZ

The ADIS16448/PCBZ includes one ADIS16448AMLZ, one
interface PCB, and one flexible connector/cable. This particular
flexible cable mates the ADIS16448AMLZ to any system that
uses the ADIS1636x, ADIS16375, ADIS16385, ADIS1640x, or
ADIS1648x IMU products, which all use a 24-pin interface,
rather than the 20-pin interface that the ADIS16448 uses. This
combination of components enables quicker installation for
prototype evaluation and algorithm development. Figure 24
provides a mechanical design example for using these three
components in a system.
15mm TO
45mm
11
2
15.05mm
1
12
11
2
1
10.07mm
J2
ADIS16448BMLZ

The EVAL-ADIS supports PC-based evaluation of the
ADIS16448. Go to www.analog.com/EVAL-ADIS, to download the user guide (UG-287) and software (IMU evaluation).
30.10mm
FLEXIBLE CONNECTOR/CABLE


PC-BASED EVALUATION TOOLS
J1
20.15mm

INTERFACE PCB
09946-021
NOTES
1. USE FOUR M2 MACHINE SCREWS TO ATTACH THE ADIS16448.
2. USE FOUR M3 MACHINE SCREWS TO ATTACH THE INTERFACE PCB.
Figure 24. Physical Diagram for Mounting the ADIS16448/PCBZ
Figure 25 provides the pin assignments for the interface board.
RST
1
2
SCLK
DNC
1
2
GND
CS
3
4
DOUT
DNC
3
4
DIO3
DNC
5
6
DIN
GND
5
6
DIO4
GND
7
8
GND
DNC
7
8
DNC
GND
9
10
VDD
DNC
9
10
DNC
VDD
11
12
VDD
DIO2
11
12
DIO1
09946-122
J2
J1
Drill and tap M2 and M3 holes in the system frame, according
to the locations in Figure 24.
Install the ADIS16448 using M2 machine screws. Use a
mounting torque of 25 inch-ounces.
Install the interface PCB using M3 machine screws.
Connect J1 on the interface flex to the ADIS16448AMLZ
connector.
Connect J2 on the interface flex to J3 on the interface PCB.
Note that J2 (interface flex) has 20 pins and J3 (interface PCB)
has 24 pins. Make sure that Pin 1 on J2 (interface flex)
connects to Pin 20 on J3 (interface PCB). J3 has a Pin 1
indicator to help guide this connection.
Use J1 and J2 on the interface PCB to make the electrical
connection with the system supply and embedded processor, using 12-pin, 1 mm ribbon cables. The following
parts may be useful in building this type of cable: 3M
Part Number 152212-0100-GB (ribbon crimp connector)
and 3M Part Number 3625/12 (ribbon cable).
The C1/C2 pads on the interface PCB do not have capacitors on
them, but these pads can support the suggested power supply
capacitor of 10 μF (see Figure 9).
23.75mm
33.40mm
12

Figure 25. J1/J2 Pin Assignments for Interface PCB
Rev. B | Page 22 of 24
Data Sheet
ADIS16448
OUTLINE DIMENSIONS
24.53
24.15
23.77
20.150
BSC
2.00 BSC
2.00
BSC
2.60
2.40 DIA.
2.20
6.70
BSC
10-32 THREADED
HOLE
4.70
4.50
4.30
30.10
BSC
33.40
BSC
38.08
37.70
37.32
1.00
BSC
0.66
BSC
TOP VIEW
19.55 BSC
2.96
2.70
2.44
7.57
BSC
7.89
7.63
7.37
2.30 BSC
(2 PLCS)
12.50 BSC
29.200
BSC
SIDE VIEW
2.30 BSC
(2 PLCS)
1.00 BSC
PITCH
2.84 BSC
(Pin Height)
10.23
BSC
5.18 BSC
(PCB to Connector)
END VIEW
03-14-2013-D
11.10
10.80
10.50
Figure 26. 20-Lead Module with Connector Interface
(ML-20-2)
Dimensions shown in millimeters
ORDERING GUIDE
Model1
ADIS16448AMLZ
ADIS16448/PCBZ
1
Temperature Range
−40°C to +85°C
Package Description
20-Lead Module with Connector Interface
Interface PCB
Z = RoHS Compliant Part.
Rev. B | Page 23 of 24
Package Option
ML-20-2
ADIS16448
Data Sheet
NOTES
©2012–2013 Analog Devices, Inc. All rights reserved. Trademarks and
registered trademarks are the property of their respective owners.
D09946-0-7/13(B)
Rev. B | Page 24 of 24
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