Datasheet ADIS16480 (Analog Devices) - 3

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ADIS16480 Data Sheet TABLE OF CONTENTS
Features .. 1 Gyroscopes/Accelerometers ... 26 Applications ... 1 Averaging/Decimation Filter .. 26 General Description ... 1 Magnetometer/Barometer ... 26 Functional Block Diagram .. 1 FIR Filter Banks .. 27 Revision History ... 3 Extended Kalman Filter ... 29 Specifications ... 4 Algorithm .. 29 Timing Specifications .. 7 Covariance Terms ... 29 Absolute Maximum Ratings .. 9 Reference Frame ... 30 ESD Caution .. 9 Reference Transformation Matrix .. 30 Pin Configuration and Function Descriptions ... 10 Declination .. 31 Typical Performance Characteristics ... 11 Adaptive Operation .. 31 Basic Operation ... 12 Calibration ... 33 Register Structure ... 12 Gyroscopes .. 33 SPI Communication ... 13 Accelerometers ... 34 Device Configuration .. 13 Magnetometers ... 34 Reading Sensor Data .. 13 Barometers .. 36 User Registers .. 14 Restoring Factory Calibration .. 36 Output Data Registers .. 18 Point of Percussion Alignment ... 36 Inertial Sensor Data Format .. 18 Alarms .. 37 Rotation Rate (Gyroscope) .. 18 Static Alarm Use ... 37 Acceleration ... 19 Dynamic Alarm Use .. 37 Delta Angles .. 19 System Controls .. 39 Delta Velocity .. 20 Global Commands ... 39 Magnetometers ... 21 Memory Management ... 39 Roll, Pitch, Yaw Angles .. 21 General-Purpose I/O ... 40 Initial Conditions ... 21 Power Management ... 40 Rotation Matrix Data ... 22 Applications Information .. 42 Barometer .. 23 Mounting Tips .. 42 Internal Temperature ... 23 Evaluation Tools ... 43 Status/Alarm Indicators ... 24 Power Supply Considerations ... 43 Firmware Revision ... 25 Outline Dimensions ... 44 Product Identification .. 25 Ordering Guide .. 44 Digital Signal Processing ... 26 Rev. G | Page 2 of 44 Document Outline Features Applications General Description Functional Block Diagram Revision History Specifications Timing Specifications Timing Diagrams Absolute Maximum Ratings ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Basic Operation Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Registers Output Data Registers Inertial Sensor Data Format Rotation Rate (Gyroscope) Acceleration Delta Angles Delta Velocity Magnetometers Roll, Pitch, Yaw Angles Initial Conditions Quaternion Euler Angles Rotation Matrix Data Barometer Internal Temperature Status/Alarm Indicators Firmware Revision Product Identification Digital Signal Processing Gyroscopes/Accelerometers Averaging/Decimation Filter Magnetometer/Barometer FIR Filter Banks Filter Memory Organization Default Filter Performance Extended Kalman Filter Algorithm Covariance Terms Reference Frame Reference Transformation Matrix Declination Adaptive Operation Adaptive EKF Enable Bit Automatic EKF Divergence Reset Control Bit Gyroscope Fade Control Bit Body Frame/Local Navigation Frame Bit Orientation Format Control Bit Magnetometer Disable Control Bit Gravity Removal Control Bit Linear Acceleration/Magnetic Disturbance Detection Calibration Gyroscopes Manual Bias Correction Manual Sensitivity Correction Linear Acceleration on Effect on Gyroscope Bias Accelerometers Manual Bias Correction Manual Sensitivity Correction Magnetometers Hard Iron Correction Soft Iron Correction Matrix Barometers Restoring Factory Calibration Point of Percussion Alignment Alarms Static Alarm Use Dynamic Alarm Use Alarm Example System Controls Global Commands Software Reset Automatic Self-Test Memory Management Flash Memory Test General-Purpose I/O Data-Ready Indicator Input Sync/Clock Control General-Purpose I/O Control Power Management General-Purpose Registers Real-Time Clock Configuration/Data Applications Information Mounting Tips Evaluation Tools Breakout Board, ADIS16IMU1/PCB PC-Based Evaluation, EVAL-ADIS2 Power Supply Considerations Outline Dimensions Ordering Guide