Datasheet ADIS16489 (Analog Devices)

Seven Degrees of Freedom Inertial Sensor Data Sheet ADIS16489 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope, ±450°/sec dynamic range
The ADIS16489 is a complete inertial system that includes a
±0.018° axis-to-axis misalignment error
triaxis gyroscope, a triaxis accelerometer, and a barometer. Each
5.3°/hr in-run bias stability
inertial sensor in the ADIS16489 combines industry leading
0.25°/√hr angular random walk
iMEMS® technology with signal conditioning that optimizes
0.045°/sec nonlinearity
dynamic performance. The factory calibration characterizes
Triaxial, digital accelerometer, ±18 g dynamic range
each sensor for sensitivity, bias, alignment, and linear acceleration
Barometer, 300 mbar to 1100 mbar
(gyroscope bias). As a result, each sensor has its own dynamic
Triaxial, delta angle and delta velocity outputs
compensation formulas that provide accurate sensor
Factory calibrated sensitivity, bias, and axial alignment
measurements.
Calibration temperature range: −40°C to +85°C
The ADIS16489 provides a simple, cost effective method for
SPI compatible
integrating accurate, multiaxis inertial sensing into industrial
Programmable operation and control
systems, especially when compared with the complexity and
Automatic and manual bias correction controls
investment associated with discrete designs. All necessary motion
4 FIR filter banks, 120 configurable taps
testing and calibration are part of the production process at
Digital I/O: data ready alarm indicator, external clock
the factory, greatly reducing system integration time. Tight
Alarms for condition monitoring
orthogonal alignment simplifies inertial frame alignment in
Power-down/sleep mode for power management
navigation systems. The serial peripheral interface (SPI) and
Optional input sync clock: up to 2.4 kHz
register structure provide a simple interface for data col ection
On demand self test of inertial sensors On demand flash memory test (checksum)
and configuration control. Parylene coating of all internal
Single-supply operation: 3.0 V to 3.6 V
circuitry (except the barometer) provides a protective barrier
2000 g shock survivability
against moisture exposure.
Parylene coating (moisture barrier for internal circuitry)
The ADIS16489 uses the same footprint and connector system as
Operating temperature range: −40°C to +105°C
the ADIS16375, ADIS16480, ADIS16485, and ADIS16488A, which
APPLICATIONS
greatly simplifies the upgrade process. The ADIS16489 is packaged in a module that is approximately 44 mm × 47 mm × 14 mm
Platform stabilization and control
and includes a standard connector interface.
Navigation Personnel tracking Instrumentation Robotics FUNCTIONAL BLOCK DIAGRAM DIO1 DIO2 DIO3 DIO4 RST VDD POWER SELF TEST I/O ALARMS MANAGEMENT GND TRIAXIAL GYROSCOPE OUTPUT CS TRIAXIAL DATA ACCELEROMETER REGISTERS SCLK CALIBRATION CONTROLLER SPI PRESSURE AND FILTERS DIN TEMP USER CONTROL REGISTERS DOUT VDD CLOCK ADIS16489
001
VDDRTC
15596- Figure 1.
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Document Outline Features Applications General Description Functional block Diagram Revision History Specifications Timing Specifications Register Specific Stall Times Timing Diagrams Absolute Maximum Ratings Thermal Resistance ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Theory of Operation Introduction Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Register Memory Map User Register Defintions Page 0 (PAGE_ID) Sample Sequence Counter (SEQ_CNT) Status/Error Flag Indicators (SYS_E_FLAG) Self Test Error Flags (DIAG_STS) Alarm Error Flags (ALM_STS) Internal Temperature (TEMP_OUT) Gyroscope Data X-Axis Gyroscope (X_GYRO_LOW, X_GYRO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) Gyroscope Resolution Acceleration Data X-Axis Accelerometer (X_ACCL_LOW, X_ACCL_OUT) Y-Axis Accelerometer (Y_ACCL_LOW, Y_ACCL_OUT) Z-Axis Accelerometer (Z_ACCL_LOW, Z_ACCL_OUT) Accelerometer Resolution Barometer Data Barometer (BAROM_LOW, BAROM_OUT) Barometer Resolution Delta Angles X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT) Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT) Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT) Delta Angle Resolution Delta Velocity X-Axis Delta Velocity (X_DELTVEL_LOW, X_DELTVEL_OUT) Y-Axis Delta Velocity (Y_DELTVEL_LOW, Y_DELTVEL_OUT) Z-Axis Delta Velocity (Z_DELTVEL_LOW, Z_DELTVEL_OUT) Delta Velocity Resolution Real-Time Clock Real-Time Clock: Minutes/Seconds (TIME_MS_OUT) Real-Time Clock: Days/Hours (TIME_DH_OUT) Real-Time Clock: Years/Months (TIME_YM_OUT) Product Identification ( PROD_ID) Page 2 (PAGE_ID) Calibration Calibration, Gyroscope Scale (X_GYRO_SCALE) Calibration, Gyroscope Scale (Y_GYRO_SCALE) Calibration, Gyroscope Scale (Z_GYRO_SCALE) Calibration, Accelerometer Scale (X_ACCL_SCALE) Calibration, Accelerometer Scale (Y_ACCL_SCALE) Calibration, Accelerometer Scale (Z_ACCL_SCALE) Calibration, Gyroscope Bias (XG_BIAS_LOW, XG_BIAS_HIGH) Calibration, Gyroscope Bias (YG_BIAS_LOW, YG_BIAS_HIGH) Calibration, Gyroscope Bias (ZG_BIAS_LOW, ZG_BIAS_HIGH) Calibration, Accelerometer Bias (XA_BIAS_LOW, XA_BIAS_HIGH) Calibration, Accelerometer Bias (YA_BIAS_LOW, YA_BIAS_HIGH) Calibration, Accelerometer Bias (ZA_BIAS_LOW, ZA_BIAS_HIGH) Barometers Calibration, Barometer Bias (BR_BIAS_LOW, BR_BIAS_HIGH) Scratch Registers (USER_SCR_x) Flash Memory Endurance Counter (FLSHCNT_LOW, FLSHCNT_HIGH) Page 3 (PAGE_ID) Global Commands (GLOB_CMD) Software Reset Factory Calibration Restore Flash Memory Update Flash Memory Test On Demand Self Test (ODST) Bias Correction Update Auxiliary I/O Line Configuration (FNCTIO_CTRL) Data Ready Indicator Input Sync/Clock Control Alarm Indicator General-Purpose I/O Control (GPIO_CTRL) Miscellaneous Configuration (CONFIG) Point of Percussion Linear Acceleration on Effect on Gyroscope Bias Decimation Filter (DEC_RATE) Continuous Bias Estimation (NULL_CNFG) Power Management (SLP_CNT) FIR Filter Control (FILTR_BNK_0, FILTR_BNK_1) Alarm Configuration (ALM_CNFG_0, ALM_CNFG_1, ALM_CFG_2) Solving for ΔX_ACCL_OUT, ΔZ_GYRO_OUT, ΔY_GYRO_OUT, and ΔX_GYRO_OUT Solving for ΔZ_ACCL_OUT and ΔY_ACCL_OUT X-Axis Gyroscope Alarm (XG_ALM_MAGN) Alarm Example Y-Axis Gyroscope Alarm (YG_ALM_MAGN) Z-Axis Gyroscope Alarm (ZG_ALM_MAGN) X-Axis Accelerometer Alarm (XA_ALM_MAGN) Y-Axis Accelerometer Alarm (YA_ALM_MAGN) Z-Axis Accelerometer Alarm (ZA_ALM_MAGN) Barometer Alarm (BR_ALM_MAGN) Firmware Revision (FIRM_REV) Firmware Revision Day and Month (FIRM_DM) Firmware Revision Year (FIRM_Y) Page 4 (PAGE_ID) Part Identification Numbers (PART_ID1, PART_ID2, PART_ID3, PART_ID4) FIR Filters Page 5, Page 6 (PAGE_ID) FIR Filter Bank A (FIR_COEF_A000 to FIR_COEF_A119) Page 7, Page 8 (PAGE_ID) FIR Filter Bank B (FIR_COEF_B000 to FIR_COEF_B119) Page 9, Page 10 (PAGE_ID) FIR Filter Bank C (FIR_COEF_C000 to FIR_COEF_C119) Page 11, Page 12 (PAGE_ID) FIR Filter Bank D (FIR_COEF_D000 to FIR_COEF_D119) Default Filter Performance Applications Information Mounting Best Practices Evaluation Tools Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS Power Supply Considerations Packaging and Ordering Information Outline Dimensions Ordering Guide