Datasheet ADIS16490 (Analog Devices) - 9

Datasheet ADIS16490 (Rev. A) TYPICAL PERFORMANCE CHARACTERISTICS 100 0.4 r) u o H 0.2 rees/ eg 10 µ + 3σ D ( °/sec) AVERAGE R ( µ O ANCE µ + 1σ 0 R R ARI V E N AS 1 µ – 3σ A µ – 1σ L BI AL –0.2 T O RO 0.1
7
–0.4
0
0.01 0.1 1 10 100 1000 10000
0 3
–45 –35 –25 –15 –5 5 15 25 35 45 55 65 75 85
-31 9- 9
Tau (Seconds)
02
CASE TEMPERATURE (°C)
02 15 15 Figure 7. Gyroscope Root Allan Variance, Figure 10. Gyroscope Bias Error, −40°C to +85°C, 1°C/min
0.4 0.1 s) ) 0.2 ree 0.1 eg (% µ + 3σ D R ( O R R µ + 3σ µ ER RRO µ Y 0 E 0 T IVI NT T E µ – 3σ SI M µ – 3σ N IG SEN L –0.2 A –0.1 IS M –0.4
8
–0.1
3
–45 –35 –25 –15 –5 5 15 25 35 45 55 65 75 85
0 3
–45 –35 –25 –15 –5 5 15 25 35 45 55 65 75 85
-31 9 29-
CASE TEMPERATURE (°C) CASE TEMPERATURE (°C)
02 150 15 Figure 8. Gyroscope Sensitivity Error, −40°C to +85°C, 1°C/min Figure 11. Gyroscope Axis to Axis Misalignment Error, −40°C to +85°C
0.4 100 ) ) 0.2 °/s/√Hz 10 ( (% Y R IT O R NS ER µ + 3σ DE Y 0 E 1 T IS IVI T µ NO SI E P O SEN C –0.2 S 0.1 RO µ – 3σ Y G –0.4
9
0.01
4
–45 –35 –25 –15 –5 5 15 25 35 45 55 65 75 85
0 1 3
0.1 1 10 100 1k 10k
3 9- 29-
CASE TEMPERATURE (°C) FREQUENCY (Hz)
02 150 15 Figure 9. Gyroscope Sensitivity Error, +85°C to −40°C, 1°C/min Figure 12. Gyroscope Noise Density, TC = 25°C Rev. A | Page 9 of 37 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 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 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 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) 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 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 Product Identification, PROD_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 Scratch Registers, USER_SCR_x Flash Memory Endurance Counter, FLSHCNT_LOW, FLSHCNT_HIGH Global Commands, GLOB_CMD Software Reset Factory Calibration Restore 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 Data Update Rate in External Sync Modes Continuous Bias Estimation (CBE), NULL_CNFG Scaling the Input Clock (PPS Mode), SYNC_SCALE FIR Filter Control, FILTR_BNK_0, FILTR_BNK_1 Firmware Revision, FIRM_REV Firmware Revision Day and Month, FIRM_DM 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 FIR FILTERS 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 APPLICATIONS INFORMATION MOUNTING BEST PRACTICES PREVENTING MISINSERTION EVALUATION TOOLS Breakout Board, ADIS16IMU1/PCBZ PC-Based Evaluation, EVAL-ADIS2 POWER SUPPLY CONSIDERATIONS PACKAGING AND ORDERING INFORMATION OUTLINE DIMENSIONS ORDERING GUIDE