Tri-Axis Inertial Sensor ADIS16365 Preliminary Technical Data Tri-axis gyroscope with digital range scaling ±75°/sec, ±150°/sec, ±300°/sec settings 14-bit resolution Tri-axis accelerometer ±17 g measurement range 14-bit resolution 350 Hz bandwidth Factory calibrated sensitivity, bias, and alignment Calibration temperature range: −40°C to +85°C External clock input for sample synchronization Digitally controlled bias calibration Digitally controlled sample rate Digitally controlled filtering Programmable condition monitoring Auxiliary digital input/output Digitally activated self-test Programmable power management Embedded temperature sensor SPI-compatible serial interface Auxiliary 12-bit ADC input and DAC output Single-supply operation: 4.75 V to 5.25 V 2000 g shock survivability Operating temperature range: −40°C to +105°C FUNCTIONAL BLOCK DIAGRAM AUX_ADC AUX_DAC ADIS16365 TEMPERATURE SENSORS ALARMS TRI-AXIS MEMS ANGULAR RATE SENSOR CS SIGNAL CONDITIONING AND CONVERSION CALIBRATION AND DIGITAL PROCESSING SCLK SPI PORT DIN TRI-AXIS MEMS ACCELERATION SENSOR DIGITAL CONTROL DOUT POWER MANAGEMENT VCC GND SELF-TEST RST DIO1 DIO2 DIO3 DIO4/ CLKIN 07570-001 FEATURES Figure 1. APPLICATIONS Guidance and control Platform control and stabilization Motion control and analysis Inertial measurement units General navigation Image stabilization Robotics GENERAL DESCRIPTION The ADIS16365 iSensor® is a complete triple axis gyroscope and triple axis accelerometer inertial sensing system. This sensor combines the Analog Devices, Inc., iMEMS® and mixed signal processing technology to produce a highly integrated solution that provides calibrated, digital inertial sensing. An SPI interface and simple output register structure allow for easy access to data and configuration controls. The SPI port provides access to the following embedded sensors: X-, Y-, and Z-axis angular rates; X-, Y-, and Z-axis linear acceleration; internal temperature; power supply; and auxiliary analog input. The inertial sensors are precision-aligned across axes and are calibrated for offset and sensitivity over the industrial temperature range of −40 to +85°C. An embedded controller dynamically compensates for all major influences on the sensors, thus maintaining highly accurate sensor outputs without further testing, circuitry, or user intervention. The following programmable features simplify system integration: in-system autobias calibration, digital filtering and sample rate, self-test, power management, condition monitoring, and auxiliary digital input/output. This compact module is approximately 23 mm × 23 mm × 23 mm and provides a convenient flex-based connector system. Rev. PrA Information furnished by Analog Devices is believed to be accurate and reliable. However, no responsibility is assumed by Analog Devices for its use, nor for any infringements of patents or other rights of third parties that may result from its use. Specifications subject to change without notice. No license is granted by implication or otherwise under any patent or patent rights of Analog Devices. Trademarks and registered trademarks are the property of their respective owners. One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A. Tel: 781.329.4700 www.analog.com Fax: 781.461.3113 ©2008 Analog Devices, Inc. All rights reserved. ADIS16365 Preliminary Technical Data TABLE OF CONTENTS Features .............................................................................................. 1 Initial Hook-Up and Configuration ........................................ 10 Applications ....................................................................................... 1 Data Collection ........................................................................... 10 Functional Block Diagram .............................................................. 1 Device Configuration ................................................................ 11 General Description ......................................................................... 1 Burst Mode Data Collection ..................................................... 11 Specifications..................................................................................... 3 Output Data Registers ............................................................... 12 Timing Specifications .................................................................. 6 Calibration................................................................................... 12 Timing Diagrams.......................................................................... 6 Operation Control Registers ..................................................... 13 Absolute Maximum Ratings............................................................ 7 Input/Output Functions ............................................................ 14 ESD Caution .................................................................................. 7 Diagnostics .................................................................................. 15 Pin Configuration and Function Descriptions ............................. 8 Outline Dimensions ....................................................................... 17 Typical Performance Characteristics ............................................. 9 Ordering Guide .......................................................................... 17 Basic Operation............................................................................... 10 Physical Installation ................................................................... 10 Rev. PrA | Page 2 of 20 Preliminary Technical Data ADIS16365 SPECIFICATIONS TA = −40°C to +85°C, VCC = 5.0 V, angular rate = 0°/sec, dynamic range = 300°/sec, ±1 g, unless otherwise noted. Table 1. Parameter GYROSCOPE SENSITIVITY Initial Sensitivity Temperature Coefficient Gyroscope Axis Nonorthogonality Gyroscope Axis Misalignment Nonlinearity GYROSCOPE BIAS In-Run Bias Stability Angular Random Walk Temperature Coefficient Linear Acceleration Effect Voltage Sensitivity GYROSCOPE NOISE PERFORMANCE Output Noise Rate Noise Density GYROSCOPE FREQUENCY RESPONSE 3 dB Bandwidth Sensor Resonant Frequency GYROSCOPE SELF-TEST STATE Change in output bias Internal Self-Test Cycle Time ACCELEROMETER SENSITIVITY Dynamic Range Initial Sensitivity Temperature Coefficient Axis Nonorthogonality Axis Misalignment Nonlinearity ACCELEROMETER BIAS In-Run Bias Stability Velocity Random Walk Temperature Coefficient ACCELEROMETER NOISE PERFORMANCE Output Noise Noise Density ACCELEROMETER FREQUENCY RESPONSE 3 dB Bandwidth Sensor Resonant Frequency ACCELEROMETER SELF-TEST STATE Output Change When Active TEMPERATURE SENSOR Scale Factor Conditions Each axis 25°C, dynamic range = ±300°/sec 25°C, dynamic range = ±150°/sec 25°C, dynamic range = ±75°/sec Min Typ Max Unit 0.0405 0.05 0.025 0.0125 40 TBD ±0.5 0.1 0.0505 °/sec/LSB °/sec/LSB °/sec/LSB ppm/°C Degree Degree % of FS 25°C, difference from 90° ideal 25°C, relative to base plate and guide pins Best fit straight line 25°C, 1 σ 25°C Any axis, 1 σ (MSC_CTRL bit [7] = 1) VCC = 4.75 V to 5.25 V 0.007 2.4 0.1 0.05 0.25 °/sec °/√hr °/sec/°C °/sec/g °/sec/V 25°C, ±300°/sec range, 1-tap filter setting 25°C, ±150°/sec range, 4-tap filter setting 25°C, ±75°/sec range, 16-tap filter setting 25°C, f = 25 Hz, ±300°/sec, no filtering TBD TBD TBD TBD °/sec rms °/sec rms °/sec rms °/sec/√Hz rms 350 14 Hz kHz ±300°/sec range setting ±833 ±1500 25 ±2167 LSB ms Each axis 25°C TBD 25°C, difference from 90° ideal 25°C, relative to base plate and guide pins Best fit straight line ±17 0.33 40 ±0.25 ±0.5 ±0.2 TBD g mg/LSB ppm/°C Degree Degree % of FS 25°C, 1 σ 25°C, 1 σ TBD TBD TBD mg m/sec/√hr mg/°C 25°C, no filtering 25°C, no filtering TBD TBD mg rms mg/√Hz rms TBD TBD Hz kHz TBD LSB 6.88 LSB/°C +25°C output = 0x0000 Rev. PrA | Page 3 of 20 ADIS16365 Parameter ADC INPUT Resolution Integral Nonlinearity Differential Nonlinearity Offset Error Gain Error Input Range Input Capacitance DAC OUTPUT Resolution Relative Accuracy Differential Nonlinearity Offset Error Gain Error Output Range Output Impedance Output Settling Time LOGIC INPUTS 1 Input High Voltage, VINH Input Low Voltage, VINL Logic 1 Input Current, IINH Logic 0 Input Current, IINL All Except RST RST Input Capacitance, CIN DIGITAL OUTPUTS1 Output High Voltage, VOH Output Low Voltage, VOL SLEEP TIMER Timeout Period 2 FLASH MEMORY Endurance 3 Data Retention 4 START-UP TIME 5 Power-On Reset Recovery Sleep Mode Recovery CONVERSION RATE Sample Rate Settings Clock Accuracy SYNC Input Clock Preliminary Technical Data Conditions Min Typ Max 12 ±2 ±1 ±4 ±2 0 During acquisition 5 kΩ/100 pF to GND +3.3 20 12 ±4 ±1 ±5 ±0.5 For Code 101 to Code 4095 +3.3 2 10 2.0 CS signal to wake up from sleep mode VIH = 3.3 V VIL = 0 V ±0.2 −40 −1 10 ISOURCE = 1.6 mA ISINK = 1.6 mA 0.8 0.55 ±10 −60 2.4 0.5 TJ = 85°C Time until data is available Fast mode, SMPL_PRD ≤ 0x07 Normal mode, SMPL_PRD ≥ 0x08 Fast mode, SMPL_PRD ≤ 0x07 Normal mode, SMPL_PRD ≥ 0x08 SMPL_PRD = 0x01 to 0xFF Unit Bits LSB LSB LSB LSB V pF Bits LSB LSB mV % V Ω μs V V V μA μA mA pF 0.4 V V 128 Sec 10,000 20 Cycles Years TBD TBD TBD TBD TBD 0.413 ms ms ms ms ms 819.2 SPS 1.2 kHz TBD Rev. PrA | Page 4 of 20 Preliminary Technical Data Parameter POWER SUPPLY Operating Voltage Range, VCC Power Supply Current ADIS16365 Conditions Low power mode at 25°C Fast mode at 25°C Sleep mode at 25°C 1 Min Typ Max Unit 4.75 5.0 24 49 500 5.25 V mA mA μA The digital I/O signals are driven by an internal 3.3 V supply, and the inputs are 5 V tolerant. Guaranteed by design. Endurance is qualified as per JEDEC Standard 22, Method A117, and measured at −40°C, +25°C, +85°C, and +125°C. 3 Retention lifetime equivalent at junction temperature (TJ) 85°C as per JEDEC Standard 22, Method A117. Retention lifetime decreases with junction temperature. 5 The times presented in this section do not include the sensor’s transient response time, which is associated with a 50 Hz single-pole system. System accuracy goals should be given consideration when determining the amount of time it takes to start acquiring accurate readings. These times do not include the time it takes to arrive at thermal stability, which can also introduce transient errors. 2 3 Rev. PrA | Page 5 of 20 ADIS16365 Preliminary Technical Data TIMING SPECIFICATIONS TA = 25°C, VDD = +5 V, unless otherwise noted. Table 2. Parameter fSCLK tSTALL tCS tDAV tDSU tDHD tSCLKR, tSCLKF tDF, tDR tSFS Fast Mode (SMPL_PRD < 0x09) Min 1 Typ Max 0.01 2.0 9 48.8 100 24.4 48.8 5 12.5 5 12.5 5 Description Stall period between data Chip select to clock edge DOUT valid after SCLK edge DIN setup time before SCLK rising edge DIN hold time after SCLK rising edge SCLK Rise/Fall times DOUT rise/fall times CS high after SCLK edge Low Power Mode (SMPL_PRD > 0x0A) Min1 Typ Max 0.01 0.3 75 48.8 100 24.4 48.8 5 12.5 5 12.5 5 Burst Mode Min Typ Max 0.01 1.0 1/fSCLK 48.8 100 24.4 48.8 5 12.5 5 12.5 5 1 Unit MHz μs ns ns ns ns ns ns ns 1 Guaranteed by design, not tested. TIMING DIAGRAMS CS tCS tSFS 1 2 3 4 5 6 15 16 SCLK tDAV MSB DB14 DB13 tDSU DIN W/R DB12 DB11 A4 A3 DB10 DB2 DB1 LSB tDHD A5 D2 A2 D1 07570-002 DOUT LSB Figure 2. SPI Timing and Sequence tSTALL DATA FRAME CS DATA FRAME SCLK A5 A4 A3 A2 A1 A0 DC7 DC6 DC5 DC4 DC3 DC2 DC1 DC0 W/R A5 A4 A3 DOUT WRITE = 1 READ = 0 REGISTER ADDRESS A2 A1 A0 DC7 DC6 DC5 DC4 DC3 DC2 DC1 DC0 DATA FROM PREVIOUS SEQUENCE 07570-003 W/R DATA FOR WRITE COMMANDS DON’T CARE FOR READ COMMANDS Figure 3. DIN Bit Sequence CS 1 2 3 4 5 11 ZGYRO_OUT ZTEMP_OUT 12 SCLK DIN DOUT 0x3E00 PREVIOUS DON’T CARE SUPPLY_OUT XGYRO_OUT YGYRO_OUT Figure 4. Burst Mode Read Sequence Rev. PrA | Page 6 of 20 AUX_ADC 07570-004 DIN Preliminary Technical Data ADIS16365 ABSOLUTE MAXIMUM RATINGS Table 3. Parameter Acceleration Any Axis, Unpowered Any Axis, Powered VCC to GND Digital Input/Output Voltage to GND Analog Inputs to GND Operating Temperature Range Storage Temperature Range 1 Rating 2000 g 2000 g −0.3 V to +6.0 V −0.3 V to +5.3 V −0.3 V to +3.6 V −40°C to +85°C −65°C to +125°C1,2 Extended exposure to temperatures outside the specified temperature range of −40°C to +85°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 +85°C. 2 Although the device is capable of withstanding short-term exposure to 150°C, long-term exposure threatens internal mechanical integrity. 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 24-Lead Module ESD CAUTION Rev. PrA | Page 7 of 20 θJA 39.8°C/W θJC 14.2°C/W Device Weight 16 grams ADIS16365 Preliminary Technical Data PIN CONFIGURATION AND FUNCTION DESCRIPTIONS DIO3 SCLK DIN DIO1 DIO2 VCC GND GND DNC DNC AUX_ADC DNC 1 3 5 7 9 11 13 15 17 19 21 23 2 4 6 8 10 12 14 16 18 20 22 24 DIO4/CLKIN DOUT CS RST VCC VCC GND DNC DNC AUX_DAC DNC DNC TOP VIEW (Not to Scale) NOTES 1. CONNECTOR PINS ARE NOT VISIBLE FROM THE TOP VIEW. 2. THIS REPRESENTATION DISPLAYS THE TOP VIEW PINOUT FOR THE MATING SOCKET CONNECTOR. 3. DNC = DO NOT CONNECT. 07570-005 ADIS16365 Figure 5. Pin Configuration Table 5. Pin Function Descriptions Pin No. 1 2 16, 17, 18, 19, 22, 23, 24 3 4 5 6 7 8 9 10, 11, 12 13, 14, 15 20 21 1 Type 1 I/O I/O N/A I O I I I/O I I/O S S O I Mnemonic DIO3 DIO4/CLKIN DNC SCLK DOUT DIN CS DIO1 RST DIO2 VCC GND AUX_DAC AUX_ADC Description Configurable Digital Input/Output Configurable Digital Input/Output or Clock Input Do Not Connect SPI Serial Clock SPI Data Output SPI Data Input SPI Chip Select Configurable Digital Input/Output Reset Configurable Digital Input/Output Power Supply Power Ground Auxiliary, 12-Bit, DAC Output Auxiliary, 12-Bit, ADC Input S = supply, O = output, I = input. PIN 1 PIN 23 TOP VIEW Z X Y PIN 24 FLEX 2 TO HOUSING 23 Figure 6. Pin Configuration, Connector Top View Rev. PrA | Page 8 of 20 1 POINT OF PERCUSSION (WHEN LINEAR ACCELEROMETER ORIGIN ALIGNMENT ENABLED) 07570-006 PIN 2 Preliminary Technical Data ADIS16365 TYPICAL PERFORMANCE CHARACTERISTICS Figure 7. Figure 10. Figure 8. Figure 11. Figure 9. Figure 12. Rev. PrA | Page 9 of 20 ADIS16365 Preliminary Technical Data BASIC OPERATION 3.3V 5V MICROCONTROLLER/ DSP/FPGA ADIS16365 SS CS SCLK SCLK MOSI DIN MISO DOUT IRQ DIO1 VCC 07570-009 The ADIS16365 runs off an internal clock and requires no external initialization. Once the power supply reaches 4.75 V, the ADIS16365 executes an internal initialization sequence and then starts producing data. At this point, the DIO1 will start pulsing as well, repeating each time new data loads into the output registers. This data-ready signal serves as an interrupt service signal, telling the system processor that the device is awake and producing data. 07570-007 Figure 15. Electrical Hook-Up Diagram DIO1 Figure 13. Start-Up Sequence PHYSICAL INSTALLATION The ADIS16365 provides slots on each side for attachment. These slots accommodate either 2-56 or 2 mm machine screws. Attach the body of the ADIS16365 to the proper surface prior to inserting the electrical connector, which is located at the end of the flex. 4 BSC Table 6. Typical Processor SPI Configuration Settings DRILL AND TAP FOR 2mm MACHINE SCREWS. 2× Processor Setting Master SCLK Rate < 2MHz (See Table 2) CPOL = 1 CPHA = 1 MSB-first 16-bit data cycles ALIGNMENT PINS FOR SAMTEC CLM-112-02-LM-D-A. 2× 26.700 BSC All of the output data and configuration options have 16-bit registers assigned to govern their operation. Each byte has its own unique 6-bit address, which provides user access using the serial peripheral interface (SPI). While SPI is a common digital interface, most digital processor platforms accommodate several configuration options. The parameters listed in Table 6 are configuration options that SPI-compatible digital processor platforms offer in configuration registers. This table is a guide for determining how to configure them for communication with the ADIS16365. 27.700 BSC 10 FOR 1.5mm ALIGNMENT PINS. 2× 8.350 Notes The ADIS16365 operates as a slave. Derived from a master clock, which is divided down to meet this requirement. Clock polarity. Clock phase. Bit sequence. For an 8-bit processor, this requires two back-to-back 8-bit spi_read commands, while keeping the chip-select line low. DATA COLLECTION 0.500 BSC 2× 07570-008 16.810 2× 4 BSC Figure 14. Typical Hole Pattern for the ADIS16365 Attachment INITIAL HOOK-UP AND CONFIGURATION The electrical connection uses a 24-pin header that mates to either the CLM or MLE family of connectors from Samtec. The evaluation system for this product uses Samtec part number: CLM-112-02-LM-D-A. Samtec is the appropriate source for suggested pad layout geometries for this mating connector. Although this device runs off a +5 V power supply, the digital lines are compatible with +3.3 V-digital I/O systems. The ADIS16365 produces data outputs in 16-bit segments, based on the previous 16-bit configuration sequence. The bit assignments for the configuration sequence are in Figure 3. For a read command, only the first eight bits require definition. The first two bits are zero, and the next six bits represent the register’s lower byte, listed in Table 7. When using 8-bit microcontrollers, use two back-to-back SPI read calls, while keeping the chip select line low. A typical code example for an 8-bit microcontroller may look like the following: Chip_Select = 0; high_byte = spi_read(0x06); low_byte = spi_read(0x00); Chip_Select = 1; delay 0.01ms (stall time) Rev. PrA | Page 10 of 20 Preliminary Technical Data ADIS16365 DEVICE CONFIGURATION BURST MODE DATA COLLECTION The ADIS16365 SPI provides device configuration control as well, eight bits at a time. Each function has a configurable register, which governs its operation, as listed in Table 7. In Figure 3, the first byte contains the write bit and register address. For example, the first byte of a write to the SMPL_PRD is 0x80 (write bit high) plus 0x36 (low-byte address), which is 0xB6. The second byte of the DIN sequence contains the data, which loads into the specified location. For the lowest sample rate setting, 0xFF is the code. The entire DIN sequence for setting the slowest sample rate is 0xB6FF. Burst mode data collection offers a more process-efficient method for collecting data from the ADIS16365. In 12 sequential data cycles, separated by only one SCLK time period, all 11output registers clock out on DOUT. In Figure 4, this sequence starts when the DIN sequence is 0x3E00. After that, the contents of each output register, comes out of DOUT, starting with SUPPLY_OUT and ending with AUX_ADC. The addressing sequence determines the order of the outputs in burst mode. Many of the configuration registers have also been assigned mirror locations in the flash memory, which effectively provides them with a backup storage function. To assure the backup of these registers, the COMMAND register provides an initiation bit for manual flash updates. The ENDURANCE register provides a running count of these events. Table 7. User Register Map Name ENDURANCE SUPPLY_OUT XGYRO_OUT YGYRO_OUT ZGYRO_OUT XACCL_OUT YACCL_OUT ZACCL_OUT XTEMP_OUT YTEMP_OUT ZTEMP_OUT AUX_ADC R/W R R R R R R R R R R R R Flash Backup Yes No No No No No No No No No No No XGYRO_OFF YGYRO_OFF ZGYRO_OFF XACCL_OFF YACCL_OFF ZACCL_OFF ALM_MAG1 ALM_MAG2 ALM_SMPL1 ALM_SMPL2 ALM_CTRL AUX_DAC GPIO_CTRL MSC_CTRL SMPL_PRD SENS/AVG SLP_CNT STATUS COMMAND 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/W R R/W Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes No No Yes Yes Yes No No N/A Address 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 Size (Bytes) 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 Function Flash memory write count Power supply measurement 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 gyroscope temperature measurement Y-axis gyroscope temperature measurement Z-axis gyroscope temperature measurement Auxiliary ADC output Reserved 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 Alarm 1 amplitude threshold Alarm 2 amplitude threshold Alarm 1 sample size Alarm 2 sample size Alarm control Auxiliary DAC data Auxiliary digital input/output control Miscellaneous control Internal sample period (rate) control Dynamic range/digital filter control Sleep mode control System status System command Rev. PrA | Page 11 of 20 Reference Table 8 Table 8 Table 8 Table 8 Table 8 Table 8 Table 8 Table 8 Table 8 Table 8 Table 8 Table 9 Table 9 Table 9 Table 10 Table 10 Table 10 Table 19 Table 19 Table 20 Table 20 Table 21 Table 16 Table 18 Table 17 Table 13 Table 15 Table 14 Table 22 Table 12 ADIS16365 Preliminary Technical Data OUTPUT DATA REGISTERS Automatic Bias Null Calibration Table 8 provides the data configuration for each output data register in the ADIS16365. Starting with the MSB of the upper byte, each output data register has the following bit sequence: new data (ND) flag, error/alarm (EA) flag, followed by 14 data bits. The data bits are LSB-justified and, in the case of the 12-bit data formats, the remaining two bits are not used. The ND flag indicates that unread data resides in the output data registers. This flag clears and returns to 0 during an output register read sequence. It returns to 1 after the next internal sample update cycle completes. The EA flag indicates an error condition. The STATUS register contains all of the error flags and provides the ability to investigate the root cause. This single-command calibration function is in the COMMAND register and measures all three-gyroscope output registers, then loads the three bias correction registers with values that return their outputs to zero (null). See Table 11 for the DIN command. Table 8. Output Data Register Formats Register SUPPLY_OUT1 XGYRO_OUT2 YGYRO_OUT2 ZGYRO_OUT2 XACCL_OUT YACCL_OUT ZACCL_OUT XTEMP_OUT3 YTEMP_OUT3 ZTEMP_OUT3 AUX_ADC Bits 12 14 14 14 14 14 14 12 12 12 12 Format Binary, +5V = 0x Twos complement Twos complement Twos complement Twos complement Twos complement Twos complement Binary, 25°C = 0x04FE Binary, 25°C = 0x04FE Binary, 25°C = 0x04FE Binary = 0x04FE Scale 2.418 mV 0.05°/sec 0.05°/sec 0.05°/sec 3.33 mg 3.33 mg 3.33 mg 0.1453°C 0.1453°C 0.1453°C 0.8059 mV 1 5 V = 2730 LSBs (nominal). Assumes that the scaling is set to 300°/sec. This factor scales with the range. 3 Typical condition, 25°C = 0 LSB. 2 CALIBRATION Manual Bias Calibration Precision Automatic Bias Null Calibration This single-command calibration function is in the COMMAND register and incorporates a 30-second average of all three gyroscope output registers, then loads the three bias correction registers with values that return their outputs to zero (null). For optimal calibration accuracy, the device should be stable (no motion) for this entire period. Once it has started, a reset is the only way to stop it prematurely, if required. See Table 11 for the DIN command. Restoring Factory Calibration This single command is in the COMMAND register and restores the factory calibration by writing 0x0000 into each bias offset register listed in Table 9 and Table 10. This command also flushes all of the data from the digital filter taps. See Table 11 for the DIN command. Linear Acceleration Bias Compensation (Gyroscopes) This function enables compensation for low-frequency acceleration influences on gyroscope bias behavior, using the MSC_CTRL register. See Table 11 for the DIN command. Linear Acceleration Origin Alignment This function enables origin alignment for the accelerometers to the point of percussion (see Figure 6), using the MSC_CTRL register. See Table 11 for the DIN command. The bias offset registers in Table 9 and Table 10 provide a manual adjustment function for each sensor’s output. For example, if an output offset of 0.125°/sec is observed in the Zaxis gyroscope, the ZGYRO_OFF register provides the calibration factor necessary to improve the accuracy. Using the sensitivity of 0.0125°/sec, an adjustment of −10 LSBs is required. The twos complement, hexadecimal code of −10 LSBs is 0x1FF6. See Table 11 for the DIN command. Table 11. Calibration Commands Table 9. X,Y,ZGYRO_OFF Register Bits Bits [15:13] [12:0] Description (Default = 0x0000) Not used. Data bits. Twos complement, 0.0125°/sec per LSB. Typical adjustment range = ±50°/sec. Table 10. X,Y,ZACCL_OFF Register Bits Bits [15:12] [11:0] Description (Default = 0x0000) Not used. Data bits, Twos complement 3.3 mg/LSB. Typical adjustment range = ±6 g. Calibration Function Adjust Z-Axis Gyroscope Bias by −0.125°/sec: Write 0x1F to 0x1F Write 0xF6 to 0x1E (ZGYRO_OFF) Automatic Bias Null: Write 0x01 to 0x3E (COMMAND) DIN Word(s) 0x9E1F 0x9FF6 Precision Automatic Bias Null: Write 0x10 to 0x3E (COMMAND) 0xBE10 Factory Calibration Restore: Write 0x02 to 0x3E (COMMAND) 0xBE02 Enable Linear Acceleration Bias Compensation for the Gyroscopes: Write 0x86 to 0x34 (MSC_CTRL) Enable Origin Alignment for the Accelerometer Sensors: Write 0x46 to 0x34 (MSC_CTRL) 0xB486 0xBE01 0xB446 The last two entries assume factory default conditions for the MSC_CTRL register. The contents may vary, depending on the other MSC_CTRL settings. See Table 17 for further description of each bit in this register. Rev. PrA | Page 12 of 20 Preliminary Technical Data ADIS16365 OPERATION CONTROL REGISTERS An example calculation of the default sample period follows: Global Commands In addition to the calibration commands, the COMMAND register provides initiation bits for several other common functions. Writing a 1 to the assigned COMMAND bit exercises its function. Table 12. COMMAND Bit Descriptions Bits [15:8] [7] [6:5] [4] [3] [2] [1] [0] Description Not used Software reset command Not used Precision autonull command Flash update command Auxiliary DAC data latch Factory calibration restore command Autonull command SMPL_PRD = 0x03, B7 − B0 = 00000011 -> B7 = 0 → tB = 0.61035 ms, B6…B0 = 000000011 → NS = 3 tS = tB × (NS + 1) = 0.61035 ms × (3+1) = 2.4414 ms The contents of this register determine whether the device is in fast mode or low power mode.” Fast mode occurs when the contents of SMPL_PRD are less than 0x0A. Refer to Table 1 and Table 2 for the performance trade-offs associated with each mode. Setting SMPL_PRD = 0x000 activates the external clock. Power Management In addition to offering two different performance modes for power optimization, the ADIS16365 offers a programmable shutdown period that the SLP_CNT register controls. Table 14. SLP_CNT Bit Descriptions The software reset command restarts the internal processor, which loads all registers with the contents in their flash memory locations. The flash update copies the contents of all flash backup registers into their assigned, nonvolatile, flash memory locations. This process takes approximately 50 ms and requires a power supply that is within the specified operating range. After waiting the appropriate time for the flash update to complete, verify successful completion by reading the STATUS register. If the flash update is successful, the flash update error is 0. If the flash update is not successful, reading this error bit accomplishes two things: (1) alerting the system processor to try again, and (2) clearing the error flag, which is required for flash memory access. The DAC data latch command loads the contents of AUX_DAC into the DAC latches. Because the AUX_DAC contents must be updated one byte at a time, this command ensures a stable DAC output voltage during updates. Bit [15:8] [7:0] Description (Default = 0x0000) Not used Data bits, 0.5 seconds/LSB (0x08, sleep time = 4 sec) Once in sleep mode, a reset or power cycle is required to wake up. Digital Filtering The signal conditioning circuit of each sensor has an analog bandwidth of approximately 350 Hz. A programmable-length Bartlett window FIR filter provides opportunity for additional noise reduction on all output data registers. The SENS/AVG register controls the number of taps in power-of-two step sizes, from zero to six. Filter setup requires one simple step: write the appropriate M factor to the assigned bits in the SENS/AVG register. The bit assignments are listed in Table 15. The frequency response relationship for this filter is H B ( f ) = H A2 ( f ) H A ( f ) = Finally, reading the COMMAND register (see Figure 4) starts the burst mode read sequence. sin(π × N × f × t s ) N × sin(π × f × t s ) 0 Internal Sample Rate Table 13. SMPL_PRD Bit Descriptions Bit [15:8] [7] [6:0] Description (Default = 0x0001) Not used Time base, 0 = 0.61035 ms, 1 = 18.921 ms Increment setting (NS) –40 –60 –80 –100 –120 –140 0.001 N=2 N=4 N = 16 N = 64 0.01 0.1 FREQUENCY (f/fS) Figure 16. Bartlett Window FIR Frequency Response Rev. PrA | Page 13 of 20 1 07570-010 tS = tB × NS + 1 –20 MAGNITUDE (dB) The SMPL_PRD register controls the ADIS16365 internal sample rate and has two parts: a selectable time base and a multiplier. The following relationship produces the sample rate: ADIS16365 Preliminary Technical Data Dynamic Range VCC D C1 Value 100 010 001 [7:3] [2:0] Description (Default = 0x0000) Not used Measurement range (sensitivity) selection 300°/sec (default condition) 150°/sec, filter taps ≥ 4 (Bits[2:0] ≥ 0x02) 75°/sec, filter taps ≥ 16 (Bits[2:0] ≥ 0x04) Not used Filter tap setting, number of taps, N = 2M; for example, 011, N = 23 = 8 taps INPUT/OUTPUT FUNCTIONS The ADIS16365 provides several input/output functions, including a 12-bit ADC, a 12-bit DAC, and four general purpose, digital input/output lines that have several configuration options. D Figure 17. Equivalent Analog Input Circuit Conversion Phase: Switch Open Track Phase: Switch Closed Table 15. SENS/AVG Bit Descriptions Bits [15:11] [10:8] R1 C2 07570-011 There are three dynamic range settings: ±75°/sec, ±150°/sec, and ±300°/sec. The lower dynamic range settings (75, 150) limit the minimum filter tap sizes to maintain the resolution as the measurement range decreases. The recommended order for programming the SENS/AVG register is upper byte (sensitivity), followed by lower byte (filtering). The contents of the SENS/AVG register are nonvolatile. For ac applications, it is recommended that high frequency components from the analog input signal be removed by using a low-pass filter on the analog input pin. In applications where harmonic distortion and signal-to-noise ratios are critical, the analog input must be driven from a low impedance source. Large source impedances significantly affect the ac performance of the ADC. This can necessitate the use of an input buffer amplifier. When no input amplifier is used to drive the analog input, the source impedance should be limited to values lower than 1 kΩ. Auxiliary DAC Auxiliary ADC The auxiliary ADC is a standard 12-bit ADC that digitizes other system-level analog signals. The output of the ADC can be monitored through the AUX_ADC register, as defined in Table 8. The ADC is a 12-bit successive approximation converter. The output data is presented in straight binary format with the fullscale range extending from 0 V to 3.3 V. Figure 17 shows the equivalent circuit of the analog input structure of the ADC. The input capacitor (C1) is typically 4 pF and can be attributed to parasitic package capacitance. The two diodes provide ESD protection for the analog input. Care must be taken to ensure that the analog input signals are never outside the range of −0.3 V to +3.5 V. Signals outside this range cause the diodes to become forward-biased and to start conducting. The diodes can handle 10 mA without causing irreversible damage. The resistor is a lumped component that represents the on resistance of the switches. The value of this resistance is typically 100 Ω. Capacitor C2 represents the ADC sampling capacitor and is typically 16 pF. The auxiliary DAC provides a 12-bit level adjustment function. The AUX_DAC register controls the operation of the auxiliary DAC function, which is useful for systems that require analog level controls. It offers a rail-to-rail buffered output that has a range of 0 V to 3.3 V. The DAC can drive its output to within 5 mV of the ground reference when it is not sinking current. As the output approaches ground, the linearity begins to degrade (100 LSB beginning point). As the sink current increases, the nonlinear range increases. The DAC output latch function, contained in the COMMAND register, provides continuous operation while writing to each byte of this register. The contents of this register are volatile, which means that the desired output level must be set after every reset and power cycle event. Table 16. AUX_DAC Bit Descriptions Bit [15:12] [11:0] Rev. PrA | Page 14 of 20 Description (Default = 0x0000) Not used Data bits, scale factor = 0.8059 mV/code Offset binary format, 0 V = 0 codes Preliminary Technical Data ADIS16365 DIAGNOSTICS Data-Ready I/O Indicator The MSC_CTRL register provides controls for a data-ready function. For example, writing 0x05 to this register enables this function and establishes DIO2 as an active-low, data-ready line. The duty cycle is 25% (±10% tolerance). Table 17. MSC_CTRL Bit Descriptions Bits [15:12] [11] [10] [9] [8] [7] [6] [5:3] [2] [1] [0] Description (Default = 0x0000) Not used Flash test Internal self-test enable (clears on completion) 1 = enabled, 0 = disabled Manual self-test, negative stimulus 1 = enabled, 0 = disabled Manual self-test, positive stimulus 1 = enabled, 0 = disabled Linear acceleration bias compensation for gyroscopes 1 = enabled, 0 = disabled Linear accelerometer origin alignment 1 = enabled, 0 = disabled Not used Data-ready enable, 1 = enabled, 0 = disabled Data-ready polarity, 1 = active high, 0 = active low Data-ready line select, 1 = DIO2, 0 = DIO1 Self-Test Self-test exercises the mechanical structure of the sensor and provides a simple method for verifying the operation of the entire sensor signal conditioning circuit. There are two different self-test options: startup and manual. If either of these self-tests results in a failure, the self-test error flag, located in the STATUS register, sets to 1. The manual self-test option results in a repeating pattern, until the bit is set back to 0. While in the manual self-test loop, SMPL_PRD and AVG_CNT cannot be changed. See Table 17 for the appropriate MSC_CTRL bit designations. Alarm Registers The alarm function provides monitoring for two independent conditions. The ALM_CTRL register provides control inputs for data source, data filtering (prior to comparison), static/ dynamic, and output indicator configurations. The ALM_MAGx registers establish the trigger threshold and polarity configurations. The ALM_SMPLx registers provide the numbers of samples to use in the dynamic, rate-of-change configuration. The rate-of-change calculation is YC = General Purpose I/O 1 N DS N DS ∑ y (n + 1) − y (n) ⇒ Alarm ⇒ is YC > or < M C ? n =1 The GPIO_CTRL register controls the direction and data of the general-purpose digital lines, DIO1 through DIO4. For example, writing a 0x02 to the GPIO_CTRL register sets DIO2 as an output line and DIO1, DIO3, and DIO4 as input lines. Reading the data bits in GPIO_CTRL reveals the logic level of each line. where: NDS is the number of samples in ALM_SMPLx. y(n) is the sampled output data. MC is the magnitude for comparison in ALM_MAGx. > or < is determined by the MSB in ALM_MAGx. Table 18. GPIO_CTRL Bit Descriptions Table 19. ALM_MAG1/ALM_MAG2 Bit Designations Bit [15:12] [11] [10] [9] [8] [7:4] [3] Bit [15] [14] [13:0] [2] [1] [0] Description (Default = 0x0000) Not used General-Purpose I/O Line 4 data level General-Purpose I/O Line 3 data level General-Purpose I/O Line 2 data level General-Purpose I/O Line 1 data level Not used General-Purpose I/O Line 4, data direction control 1 = output, 0 = input General-Purpose I/O Line 3, data direction control 1 = output, 0 = input General-Purpose I/O Line 2, data direction control 1 = output, 0 = input General-Purpose I/O Line 1, data direction control 1 = output, 0 = input Description (Default = 0x0000) Comparison polarity: 1 = greater than, 0 = less than Not used Data bits, matches format of trigger source selection Table 20. ALM_SMPL1/ALM_SMPL2 Bit Designations Bit [15:8] [7:0] Rev. PrA | Page 15 of 20 Description (Default = 0x0001) Not used Data bits: number of samples (both 0x00 and 0x01 = 1) ADIS16365 Preliminary Technical Data Status Table 21. ALM_CTRL Bit Designations Bits [15:12] Value 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 [11:8] [7] [6] [5] [4] [3] [2] [1] [0] 1 Description (Default = 0x0000) Alarm 2 source selection Disable Power supply output 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 gyroscope temperature output Y-axis gyroscope temperature output Z-axis gyroscope temperature output Auxiliary ADC input Alarm 1 source selection (same as Alarm 2) Rate of change (ROC) enable for Alarm 2 1 = rate of change, 0 = static level Rate of change (ROC) enable for Alarm 1 1 = rate of change, 0 = static level Not used Comparison data filter setting1 1 = filtered data, 0 = unfiltered data Not used Alarm output enable 1 = enabled, 0 = disabled Alarm output polarity 1 = active high, 0 = active low Alarm output line select 1 = DIO2, 0 = DIO1 The STATUS register provides a series of error flags that provide indicator functions for common system-level issues. All of the flags clear (set to 0) after each STATUS register read cycle. If an error condition remains, the error flag returns to 1 during the next sample cycle. Table 22. STATUS Bit Descriptions Bit [15:10] [9] [8] [7] [6] [5] [4] [3] [2] [1] [0] Incline and vertical angles always use filtered data in this comparison. Rev. PrA | Page 16 of 20 Description (Default = 0x0000) Not used Alarm 2 status 1 = active, 0 = inactive Alarm 1 status 1 = active, 0 = inactive Not used Flash failure Self-test diagnostic error flag 1 = error condition, 0 = normal operation Not used SPI communications failure 1 = error condition, 0 = normal operation Flash update failed 1 = error condition, 0 = normal operation Power supply above 5.25 V 1 ≥ 5.25 V, 0 ≤ 5.25 V (normal) Power supply below 4.75 V 1 ≤ 4.75 V, 0 ≥ 4.75 V (normal) Preliminary Technical Data ADIS16365 OUTLINE DIMENSIONS 31.900 31.700 31.500 23.454 23.200 22.946 9.464 9.210 8.956 (2×) 2.382 BSC 17.41 17.21 17.01 (2×) 1.588 BSC TOP VIEW 22.964 22.710 22.456 1.588 BSC 10.60 BSC 10.50 BSC 21.410 21.210 21.010 BOTTOM VIEW 5.20 5.00 4.80 (2×) 14.950 14.550 14.150 PIN 24 4.20 4.00 3.80 (2×) 0.05 BSC PIN 1 7.18 BSC 1.00 BSC 2.00 BSC 12.10 BSC FRONT VIEW 23.504 23.250 22.996 2.660 2.500 2.340 SIDE VIEW 4.330 BSC DETAIL A DETAIL A 1.00 BSC (22×) 1.65 BSC 14.00 BSC 011108-C 0.305 BSC (24×) 4.162 BSC Figure 18. 24-Lead Module with Connector Interface (ML-24-2) Dimensions shown in millimeters ORDERING GUIDE Model ADIS16365BMLZ 1 ADIS16365/PCBZ1 1 Temperature Range −40°C to +105°C Package Description 24-Lead Module with Connector Interface Interface Board Z = RoHS Compliant Part. Rev. PrA | Page 17 of 20 Package Option ML-24-2 ADIS16365 Preliminary Technical Data NOTES Rev. PrA | Page 18 of 20 Preliminary Technical Data ADIS16365 NOTES Rev. PrA | Page 19 of 20 ADIS16365 Preliminary Technical Data NOTES ©2008 Analog Devices, Inc. All rights reserved. Trademarks and registered trademarks are the property of their respective owners. PR07570-0-6/08(PrA) Rev. PrA | Page 20 of 20