Datasheet ADIS16497 (Analog Devices) - 14

link to page 13 link to page 14 link to page 14 link to page 14 link to page 27 link to page 7 link to page 14 link to page 7 link to page 15 link to page 14 link to page 15
Data Sheet ADIS16497 RST PIN RELEASED Burst Read Function
The burst read function (BRF) provides a method for reading a
RST
batch of data (status, temperature, gyroscopes, accelerometers,
DR PULSING RESUMES
time stamp/data counter, and CRC code), which does not require a stall time between each 16-bit segment and only
DR
requires one command on the DIN line to initiate. System processors can execute this mode by reading the BURST_CMD 024 1-
RESET RECOVERY TIME
register (DIN = 0x7C00) and then reading each segment of data 1506 Figure 24. Data Ready Response During Reset (RST = 0) Recovery in the response, while holding the CS line in a low state, until
READING SENSOR DATA
after reading the last 16-bit segment of data. If the CS line goes high before the completion of all data acquisition, the data from Reading a single register requires two 16-bit cycles on the SPI: that read request is lost. one to request the contents of a register and another to receive those contents. The 16-bit command code (see Figure 19) for a The BRF contains either 19 or 20 different data segments (16 bits read request on the SPI has three parts: the read bit (R/W = 0), each), depending on the SCLK rate. When using a SCLK rate the 7-bit address code for either address (upper or lower) of the that is less than 3 MHz, the BRF response uses the sequencing register, Bits[A6:A0], and eight don’t care bits, Bits[DC7:DC0]. diagram in Figure 5 and the data format shown in Table 10. Figure 25 provides an example that includes two register reads When using a SCLK rate that is greater than 3.6 MHz, the BRF in succession. This example starts with DIN = 0x1A00, to response uses the sequencing diagram in Figure 6 and the data request the contents of the Z_GYRO_OUT register, and follows format in Table 11. When using an SCLK rate that is in between with 0x1800, to request the contents of the Z_GYRO_LOW 3 MHz and 3.6 MHz, the ADIS16497 can use either format. To register (assuming PAGE_ID already equals 0x0000). The manage that variation, use the BURST_ID code (0xA5A5 in sequence in Figure 25 also shows full duplex mode of operation, Table 10 and Table 11) as an identifier for when the ADIS16497 which means that the ADIS16497 can receive requests on DIN BRF response is starting. while also transmitting data out on DOUT within the same 16-
Table 10. BRF Data Format (fSCLK < 3 MHz)1
bit SPI cycle.
Segment DIN DOUT DIN 0x1A00 0x1800 NEXT ADDRESS
0 0x7C00 N/A 025 1 N/A 0xA5A5 (BURST_ID)
DOUT Z_GYRO_OUT Z_GYRO_LOW
15061- 2 N/A SYS_E_FLAG Figure 25. SPI Read Example 3 N/A TEMP_OUT Figure 26 provides an example of the four SPI signals when reading 4 N/A X_GYRO_LOW the PROD_ID register (see Table 92) in a repeating pattern. This 5 N/A X_GYRO_OUT pattern can be helpful when troubleshooting the SPI interface 6 N/A Y_GYRO_LOW setup and communications. 7 N/A Y_GYRO_OUT 8 N/A Z_GYRO_LOW
CS
9 N/A Z_GYRO_OUT
SCLK
10 N/A X_ACCL_LOW
DIN DIN = 0111 1110 0000 0000 = 0x7E00
11 N/A X_ACCL_OUT 12 N/A Y_ACCL_LOW
DOUT
26 0 13 N/A Y_ACCL_OUT 1-
DOUT = 0100 0000 0111 0001 = 0x4071 = 16497 (PROD_ID)
06 15 14 N/A Z_ACCL_LOW Figure 26. SPI Read Example, Second 16-Bit Sequence 15 N/A Z_ACCL_OUT 16 N/A DATA_CNT (FNCTIO_CTRL, Bits[8:7] ≠ 11) TIME_STAMP (FNCTIO_CTRL, Bits[8:7] = 11) 17 N/A CRC_LWR 18 N/A CRC_UPR 1 N/A means not applicable. Rev. A | Page 13 of 39 Document Outline FEATURES APPLICATIONS GENERAL DESCRIPTION FUNCTIONAL BLOCK DIAGRAM TABLE OF CONTENTS REVISION HISTORY SPECIFICATIONS TIMING SPECIFICATIONS Register Specific Stall Times Timing Diagrams ABSOLUTE MAXIMUM RATINGS THERMAL RESISTANCE ESD CAUTION PIN CONFIGURATION AND FUNCTION DESCRIPTIONS TYPICAL PERFORMANCE CHARACTERISTICS THEORY OF OPERATION INERTIAL SENSOR SIGNAL CHAIN Gyroscope Data Sampling Accelerometer Data Sampling External Clock Options Inertial Sensor Calibration Gyroscope Factory Calibration Accelerometer Factory Calibration Filtering REGISTER STRUCTURE SERIAL PERIPHERAL INTERFACE DATA READY READING SENSOR DATA Burst Read Function DEVICE CONFIGURATION Dual Memory Structure USER REGISTER MEMORY MAP USER REGISTER DEFINTIONS PAGE NUMBER (PAGE_ID) DATA/SAMPLE COUNTER (DATA_CNT) STATUS/ERROR FLAG INDICATORS (SYS_E_FLAG) SELF TEST ERROR FLAGS (DIAG_STS) INTERNAL TEMPERATURE (TEMP_OUT) GYROSCOPE DATA Gyroscope Measurement Range/Scale Factor Gyroscope Data Formatting X-Axis Gyroscope (X_GYRO_LOW, X_GRYO_OUT) Y-Axis Gyroscope (Y_GYRO_LOW, Y_GYRO_OUT) Z-Axis Gyroscope (Z_GYRO_LOW, Z_GYRO_OUT) ACCELERATION DATA X-Axis Accelerometer (X_ACCL_LOW, X_ACCL_OUT) Y-Axis Accelerometer (Y_ACCL_LOW, Y_ACCL_OUT) Z-Axis Accelerometer (Z_ACCL_LOW, Z_ACCL_OUT) Accelerometer Resolution TIME STAMP CYCLICAL REDUNDANDCY CHECK (CRC-32) DELTA ANGLES Delta Angle Measurement Range X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT) Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT) Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT) Delta Angle Resolution DELTA VELOCITY X-Axis Delta Velocity (X_DELTVEL_LOW, X_DELTVEL_OUT) Y-Axis Delta Velocity (Y_DELTVEL_LOW, Y_DELTVEL_OUT) Z-Axis Delta Velocity (Z_DELTVEL_LOW, Z_DELTVEL_OUT) Delta Velocity Resolution Burst Read Command, BURST_CMD Product Identification, PROD_ID USER BIAS/SCALE ADJUSTMENT Gyroscope Scale Adjustment, X_GYRO_SCALE Gyroscope Scale Adjustment, Y_GYRO_SCALE Gyroscope Scale Adjustment, Z_GYRO_SCALE Accelerometer Scale Adjustment, X_ACCL_SCALE Accelerometer Scale Adjustment, Y_ACCL_SCALE Accelerometer Scale Adjustment, Z_ACCL_SCALE Gyroscope Bias Adjustment, XG_BIAS_LOW, XG_BIAS_HIGH Gyroscope Bias Adjustment, YG_BIAS_LOW, YG_BIAS_HIGH Gyroscope Bias Adjustment, ZG_BIAS_LOW, ZG_BIAS_HIGH Accelerometer Bias Adjustment, XA_BIAS_LOW, XA_BIAS_HIGH Accelerometer Bias Adjustment, YA_BIAS_LOW, YA_BIAS_HIGH Accelerometer Bias Adjustment, ZA_BIAS_LOW, ZA_BIAS_HIGH SCRATCH REGISTERS, USER_SCR_X FLASH MEMORY ENDURANCE COUNTER, FLSHCNT_LOW, FLSHCNT_HIGH GLOBAL COMMANDS, GLOB_CMD Software Reset Clear User Calibration Flash Memory Update On Demand Self Test (ODST) Bias Correction Update AUXILIARY I/O LINE CONFIGURATION, FNCTIO_CTRL Data Ready Indicator Input Sync/Clock Control GENERAL-PURPOSE I/O CONTROL, GPIO_CTRL MISCELLANEOUS CONFIGURATION, CONFIG Point of Percussion LINEAR ACCELERATION ON EFFECT ON GYROSCOPE BIAS DECIMATION FILTER, DEC_RATE CONTINUOUS BIAS ESTIMATION (CBE), NULL_CNFG SCALING THE INPUT CLOCK (PPS MODE), SYNC_SCALE Measurement Range Identifier, RANG_MDL FIR FILTERS FIR Filters Control, FILTR_BNK_0, FILTR_BNK_1 FIR Filter Bank Memory Maps FIR Filter Bank A, FIR_COEF_A000 to FIR_COEF_A119 FIR Filter Bank B, FIR_COEF_B000 to FIR_COEF_B119 FIR Filter Bank C, FIR_COEF_C000 to FIR_COEF_C119 FIR Filter Bank D, FIR_COEF_D000 to FIR_COEF_D119 Default Filter Performance FIRMWARE REVISION, FIRM_REV FIRMWARE REVISION YEAR, FIRM_Y BOOT REVISION NUMBER, BOOT_REV CONTINUOUS SRAM TESTING Signature CRC, Calibration Values, CAL_SIGTR_LWR Signature CRC, Calibration Values, CAL_SIGTR_UPR Derived CRC, Calibration Values, CAL_DRVTN_LWR Derived CRC, Calibration Values, CAL_DRVTN_UPR Signature CRC, Program Code, CODE_SIGTR_LWR Signature CRC, Program Code, CODE_SIGTR_UPR Derived CRC, Program Code, CODE_DRVTN_LWR Derived CRC, Program Code, CODE_DRVTN_UPR Lot Specific Serial Number, SERIAL_NUM APPLICATIONS INFORMATION MOUNTING BEST PRACTICES PREVENTING MISINSERTION EVALUATION TOOLS Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS2 POWER SUPPLY CONSIDERATIONS OUTLINE DIMENSIONS ORDERING GUIDE