Ten Degrees of Freedom Inertial Sensor
ADIS16407
Data Sheet
GENERAL DESCRIPTION
Triaxial digital gyroscope with digital range scaling
±75°/sec, ±150°/sec, ±300°/sec settings
Axis-to-axis alignment, –19.675°/sec
Figure 11. Example SPI Read, Second 16-Bit Sequence
Burst Read Function
The burst read function enables the user to read all output registers
using one command on the DIN line and shortens the stall time
between each 16-bit segment to one SCLK cycle (see Table 2).
Figure 12 provides the burst read sequence of data on each SPI
signal. The sequence starts with writing 0x4200 to DIN, followed
by each output register clocking out on DOUT, in the order in
which they appear in Table 8.
Table 7. Generic Master Processor SPI Settings
Description
The ADIS16407 operates as a slave
Maximum serial clock rate
CPOL = 1 (polarity), CPHA = 1 (phase)
Bit sequence
Shift register/data length
O
CS
1
2
3
15
SCLK
DIN
For burst read, SCLK rate ≤ 1 MHz.
0x4200
DOUT
DON’T CARE
SUPPLY_OUT
XGYRO_OUT
Figure 12. Burst Read Sequence
CS
SCLK
DIN
DOUT
R/W
D15
A6
A5
A4
A3
A2
A1
A0
DC7
DC6
DC5
DC4
DC3
DC2
DC1
DC0
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
NOTES
1. THE DOUT BIT PATTERN REFLECTS THE ENTIRE CONTENTS OF THE REGISTER IDENTIFIED BY [A6:A0]
IN THE PREVIOUS 16-BIT DIN SEQUENCE WHEN R/W = 0.
2. IF R/W = 1 DURING THE PREVIOUS SEQUENCE, DOUT IS NOT DEFINED.
Figure 13. SPI Communication Bit Sequence
Rev. C | Page 10 of 24
R/W
D15
A6
A5
D14
D13
09797-013
1
YGYRO_OUT
CS
The ADIS16407 SPI interface supports full duplex serial communication (simultaneous transmit and receive) and uses the bit
sequence shown in Figure 13. Table 7 provides a list of the most
common settings that require attention to initialize the serial
port of a processor for the ADIS16407 SPI interface.
Processor Setting
Master
SCLK Rate ≤ 2 MHz1
SPI Mode 3
MSB-First Mode
16-Bit Mode
XGYRO_OUT
Figure 10. SPI Read Example
Table 6. Generic Master Processor Pin Names and Functions
Pin Name
SS
SCLK
MOSI
MISO
IRQ
0x0800
LE
DOUT
0x0600
09797-010
11
ADIS16407
SS
AUX_ADC
09797-012
10
SYSTEM
PROCESSOR
SPI MASTER
The ADIS16407 provides two different options for acquiring
sensor data: single register and burst register. A single register
read requires two 16-bit SPI cycles. The first cycle requests the
contents of a register using the bit assignments in Figure 13.
Bit DC7 to Bit DC0 are don’t care for a read, and then the output
register contents follow on DOUT during the second sequence.
Figure 10 includes three single register reads in succession. In
this example, the process starts with DIN = 0x0400 to request
the contents of XGYRO_OUT, then follows with 0x0600 to
request YGYRO_OUT and 0x0800 to request ZGYRO_OUT.
Full duplex operation enables processors to use the same 16-bit
SPI cycle to read data from DOUT while requesting the next set
of data on DIN. Figure 11 provides an example of the four SPI
signals when reading XGYRO_OUT in a repeating pattern.
09797-011
I/O LINES ARE COMPATIBLE WITH
3.3V OR 5V LOGIC LEVELS
VDD
READING SENSOR DATA
Data Sheet
ADIS16407
OUTPUT DATA REGISTERS
The output registers in Table 8 provide the most recent sensor
data produced by the ADIS16407. Each output register has flags
for new data indication and error/alarm conditions, which
reduces the need to monitor DIAG_STAT.
Table 8. Output Data Register Formats
1
Measurement
Power supply
Gyroscope, x-axis
Gyroscope, y-axis
Gyroscope, z-axis
Accelerometer, x-axis
Accelerometer, y-axis
Accelerometer, z-axis
Magnetometer, x-axis
Magnetometer, y-axis
Magnetometer, z-axis
Barometer/pressure, higher
Barometer/pressure, lower
Internal temperature
Auxiliary ADC
Z-AXIS
mZ
aX
Figure 14. Inertial Sensor Direction Reference
O
Gyroscopes
Figure 14 provides arrows (gX, gY, gZ) that indicate the direction
of rotation, which produces a positive response in the gyroscope
output registers: XGYRO_OUT (x-axis, Table 9), YGYRO_OUT
(y-axis, Table 10), and ZGYRO_OUT (z-axis, Table 11). Table 12
illustrates the gyroscope data format.
Table 9. XGYRO_OUT (Base Address = 0x04), Read Only
Bits
[15]
[14]
[13:0]
Bits
[15]
[14]
[13:0]
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
X-axis acceleration data, twos complement format,
3.333 mg per LSB
Table 14. YACCL_OUT (Base Address = 0x0C), Read Only
Bits
[15]
[14]
[13:0]
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Y-axis acceleration data, twos complement format,
3.333 mg per LSB
Table 15. ZACCL_OUT (Base Address = 0x0E), Read Only
Bits
[15]
[14]
[13:0]
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
X-axis gyroscope data, twos complement format,
0.05°/sec per LSB, when SENS_AVG[15:8] = 0x04
Table 10. YGYRO_OUT (Base Address = 0x06), Read Only
Bits
[15]
Binary
xx01 0111 0111 0000
xx00 0000 0000 0010
xx00 0000 0000 0001
xx00 0000 0000 0000
xx11 1111 1111 1111
xx11 1111 1111 1110
xx10 1000 1001 0000
Table 13. XACCL_OUT (Base Address = 0x0A), Read Only
gX
09797-014
gY
Hex
0x1770
0x0002
0x0001
0x0000
0x3FFF
0x3FFE
0x2890
Figure 14 provides arrows (aX, aY, aZ) that indicate the direction
of acceleration, which produces a positive response in the
gyroscope output registers: XACCL_OUT (x-axis, Table 13),
YACCL_OUT (y-axis, Table 14), and ZACCL_OUT (z-axis,
Table 15). Table 16 illustrates the accelerometer data format.
X-AXIS
mY
Decimal
+6000
+2
+1
0
−1
−2
−6000
Accelerometers
mX
aY
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Z-axis gyroscope data, twos complement format,
0.05°/sec per LSB, when SENS_AVG[15:8] = 0x04
Rotation Rate
+300°/sec
+0.1°/sec
+0.05°/sec
0°/sec
−0.05°/sec
−0.1°/sec
−300°/sec
B
SO
gZ
Y-AXIS
Bits
[15]
[14]
[13:0]
Table 12. Rotation Rate, Twos Complement Format
This is most useful for monitoring relative changes in the temperature.
aZ
Table 11. ZGYRO_OUT (Base Address = 0x08), Read Only
TE
Address
0x02
0x04
0x06
0x08
0x0A
0x0C
0x0E
0x10
0x12
0x14
0x16
0x18
0x1A
0x1C
Error/alarm, 1 = active, see DIAG_STAT for error flags
Y-axis gyroscope data, twos complement format,
0.05°/sec per LSB, when SENS_AVG[15:8] = 0x04
LE
Register
SUPPLY_OUT
XGYRO_OUT
YGYRO_OUT
ZGYRO_OUT
XACCL_OUT
YACCL_OUT
ZACCL_OUT
XMAGN_OUT
YMAGN_OUT
ZMAGN_OUT
BARO_OUT
BARO_OUTL
TEMP_OUT1
AUX_ADC
[14]
[13:0]
Description
New data indicator (ND), 1 = new data in register
Rev. C | Page 11 of 24
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Z-axis acceleration data, twos complement format,
3.333 mg per LSB
ADIS16407
Data Sheet
Acceleration
+18 g
+6.667 mg
+3.333 mg
0g
−3.333 mg
−6.667 mg
−18 g
Decimal
+5401
+2
+1
0
−1
−2
−5401
Hex
0x1519
0x0002
0x0001
0x0000
0x3FFF
0x3FFE
0x2AE7
Binary
xx01 0101 0001 1001
xx00 0000 0000 0010
xx00 0000 0000 0001
xx00 0000 0000 0000
xx11 1111 1111 1111
xx11 1111 1111 1110
xx10 1010 1110 0111
Magnetometers
Figure 14 provides arrows (mX, mY, mZ) that indicate the direction
of the magnetic field, which produces a positive response in the
gyroscope output registers: XMAGN_OUT (x-axis, Table 17),
YMAGN_OUT (y-axis, Table 18), and ZAMAGN_OUT (z-axis,
Table 19). Table 20 illustrates the magnetic field intensity data
format.
Table 17. XMAGN_OUT (Base Address = 0x10), Read Only
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
X-axis magnetic field intensity data, twos complement
format, 0.5 mgauss per LSB
Table 18. YMAGN_OUT (Base Address = 0x12), Read Only
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Y-axis magnetic field intensity data, twos complement
format, 0.5 mgauss per LSB
Table 19. ZMAGN_OUT (Base Address = 0x14), Read Only
Bits
[15]
[14]
[13:0]
Read BAR_OUT and multiply by 256 (shift 8 bits)
Read BAR_OUTL and max off upper 8 bits
Add results together for a 24-bit result,
where 1 LSB = 0.0003125 and 0x00000 = 0 mbar
Table 21. BARO_OUT (Base Address = 0x16), Read Only
Bits
[15]
[14]
[13:0]
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Barometric pressure data, binary data format,
0.08 mbar per LSB, 0x0000 = 0 mbar
Table 22. BARO_OUTL (Base Address = 0x18), Read Only
Bits
[15:8]
[7:0]
Description
Not used
Barometric pressure data, binary data format,
0.0003125 mbar per LSB, 0x0000 = 0 mbar
Table 23. Pressure, Binary, BARO_OUT Only
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Z-axis magnetic field intensity data, twos complement
format, 0.5 mgauss per LSB
O
Table 20. Magnetometer, Twos Complement Format
Magnetic Field
+2.5 gauss
+0.001 gauss
+0.0005 gauss
0 gauss
−0.0005 gauss
−0.0005 gauss
−2.5 gauss
Pressure
(mbar)
1200
1100
1000
0.16
0.08
0
B
SO
Bits
[15]
[14]
[13:0]
1.
2.
3.
LE
Bits
[15]
[14]
[13:0]
Use BAR_OUTL and the following steps to increase the
numerical resolution by 8-bits for best performance:
TE
Table 16. Acceleration, Twos Complement Format
Decimal
+5000
+2
+1
0
−1
−2
−5000
Hex
0x1388
0x0002
0x0001
0x0000
0x3FFF
0x3FFE
0x2C78
Binary
xx01 0011 1000 1000
xx00 0000 0000 0010
xx00 0000 0000 0001
xx00 0000 0000 0000
xx11 1111 1111 1111
xx11 1111 1111 1110
xx10 1100 0111 1000
Barometric Pressure
The barometric pressure measurements are contained in two
registers, BARO_OUT (Table 21) and BARO_OUTL (Table 22)
registers. Table 23 provides several numerical format examples
for BARO_OUT, which is sufficient for most applications.
Decimal
15,000
13,750
12,500
2
1
0
Hex
0x3A98
0x35B6
0x30D4
0x0002
0x0001
0x0000
Binary
xx11 1010 1001 1000
xx11 0101 1011 0110
xx11 0000 1101 0100
xx00 0000 0000 0010
xx00 0000 0000 0001
xx00 0000 0000 0000
Internal Temperature
The internal temperature measurement data loads into the
TEMP_OUT (Table 24) register. Table 25 illustrates the
temperature data format.
Table 24. TEMP_OUT (Base Address = 0x1A), Read Only
Bits
[15]
[14]
[13:12]
[11:0]
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Not used
Internal temperature data, twos complement,
0.136°C/LSB, 25°C = 0x000
Table 25. Temperature, Twos Complement Format
Temperature
+105°C
+85°C
+25.272°C
+25.136°C
+25°C
+24.864°C
+24.728°C
−40°C
Rev. C | Page 12 of 24
Decimal
+588 LSB
+441 LSB
+2 LSB
+1 LSB
0 LSB
−1 LSB
−2 LSB
−478 LSB
Hex
0x24C
0x1B9
0x002
0x001
0x000
0xFFF
0xFFE
0xE22
Binary
xxxx 0010 0100 1100
xxxx 0001 1011 1001
xxxx 0000 0000 0010
xxxx 0000 0000 0001
xxxx 0000 0000 0000
xxxx 1111 1111 1111
xxxx 1111 1111 1110
xxxx 1110 0010 0010
Data Sheet
ADIS16407
Power Supply
Table 29. Analog Input, Offset Binary Format
The SUPPLY_OUT register (Table 26) provides a measurement
of the voltage that is on the VDD pins of the device. Table 27
illustrates the power supply data format.
Input Voltage
3.3 V
1V
1.6118 mV
805.9 µV
0V
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Not used
Power supply measurement data, binary format,
2.418 mV/LSB, 0 V = 0x000
Table 27. Power Supply Data, Binary Format
Hex
0x87B
0x814
0x7AC
0x19E
0x002
0x001
0x000
Binary
xxxx 1000 0111 1011
xxxx 1000 0001 0100
xxxx 0111 1010 1100
xxxx 0001 1001 1110
xxxx 0000 0000 0010
xxxx 0000 0000 0001
xxxx 0000 0000 0000
INPUT ADC CHANNEL
CS
SCLK
DIN
DIN = 1011 1011 0000 0011 = 0xBB03, WRITES 0x03 TO ADDRESS 0x3B.
Figure 16. Example SPI Write Sequence
B
SO
The AUX_ADC register provides access to the auxiliary ADC
input channel. The ADC is a 12-bit successive approximation
converter that has an input circuit equivalent to the one shown
in Figure 15. The maximum input is 3.3 V. The ESD protection
diodes can handle 10 mA without causing irreversible damage.
The on resistance (R1) of the switch has a typical value of 100 Ω.
The sampling capacitor, C2, has a typical value of 16 pF.
VCC
R1 C2
D
09797-015
D
C1
The control registers in Table 30 provide users with a variety of
configuration options. The SPI provides access to these registers,
one byte at a time, using the bit assignments in Figure 13. Each
register has 16 bits, where Bits[7:0] represent the lower address,
and Bits[15:8] represent the upper address. Figure 16 provides
an example of writing 0x03 to Address 0x3B (SMPL_PRD[15:8]),
using DIN = 0xBB03. This example reduces the sample rate by a
factor of eight (see Table 46).
Dual Memory Structure
Writing configuration data to a control register updates its SRAM
contents, which are volatile. After optimizing each relevant control
register setting in a system, set GLOB_CMD[3] = 1 (DIN =
0xBE08) to backup these settings in nonvolatile flash memory.
The flash backup process requires a valid power supply level for
the entire 75 ms process time. Table 30 provides a user register
memory map that includes a flash backup column. A “yes” in this
column indicates that a register has a mirror location in flash and,
when backed up properly, it automatically restores itself during
startup or after a reset. Figure 17 provides a diagram of the dual
memory structure used to manage operation and store critical user
settings.
O
Figure 15. Equivalent Analog Input Circuit
(Conversion Phase: Switch Open,
Track Phase: Switch Closed)
Table 28. AUX_ADC (Base Address = 0x1C), Read Only
Bits
[15]
[14]
[13:12]
[11:0]
09797-016
Decimal
2171
2068
1964
414
2
1
0
DEVICE CONFIGURATION
LE
Voltage
+5.25 V
+5.0 V
+4.75 V
1V
4.836 mV
2.418 mV
0V
Binary
xxxx 1111 1111 1111
xxxx 0100 1101 1001
xxxx 0000 0000 0010
xxxx 0000 0000 0001
xxxx 0000 0000 0000
Description
New data indicator (ND), 1 = new data in register
Error/alarm, 1 = active, see DIAG_STAT for error flags
Not used
Analog input channel data, binary format,
0.8059 mV/LSB, 0 V = 0x000
Rev. C | Page 13 of 24
MANUAL
FLASH
BACKUP
NONVOLATILE
FLASH MEMORY
VOLATILE
SRAM
(NO SPI ACCESS)
SPI ACCESS
START-UP
RESET
Figure 17. SRAM and Flash Memory Diagram
09797-017
Bits
[15]
[14]
[13:12]
[11:0]
Hex
0xFFF
0x4D9
0x002
0x001
0x000
TE
Table 26. SUPPLY_OUT (Base Address = 0x02), Read Only
Decimal
4095
1241
2
1
0
ADIS16407
Data Sheet
USER REGISTERS
Table 30. User Register Memory Map 1
1
2
Default
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0800
0x0800
0x0800
0x0000
0x0006
0x0001
0x0402
N/A
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
0x0000
N/A
N/A
N/A
0x4107
N/A
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 magnetometer measurement
Y-axis magnetometer measurement
Z-axis magnetometer measurement
Barometer pressure measurement, high word
Barometer pressure measurement, low word
Temperature output
Auxiliary ADC measurement
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
X-axis magnetometer, hard iron factor
Y-axis magnetometer, hard iron factor
Z-axis magnetometer, hard iron factor
X-axis magnetometer, soft iron factor
Y-axis magnetometer, soft iron factor
Z-axis magnetometer, soft iron factor
Auxiliary digital input/output control
Miscellaneous control
Internal sample period (rate) control
Dynamic range and digital filter control
Sleep mode control
System status
System command
Alarm 1 amplitude threshold
Alarm 2 amplitude threshold
Alarm 1 sample size
Alarm 2 sample size
Alarm control
Auxiliary DAC data
Reserved
Lot identification number
Lot identification number
Product identifier
Serial number
Bit Assignments
See Table 38
See Table 26
See Table 9
See Table 10
See Table 11
See Table 13
See Table 14
See Table 15
See Table 17
See Table 18
See Table 19
See Table 21
See Table 22
See Table 24
See Table 28
See Table 49
See Table 50
See Table 51
See Table 52
See Table 53
See Table 54
See Table 55
See Table 56
See Table 57
See Table 58
See Table 59
See Table 60
See Table 42
See Table 39
See Table 46
See Table 47
See Table 33
See Table 40
See Table 32
See Table 62
See Table 63
See Table 64
See Table 65
See Table 66
See Table 43
TE
Address 2
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
0x40
0x42
0x44
0x46
0x48
0x4A
0x4C
0x4E
0x50
0x52
0x54
0x56
0x58
LE
Flash Backup
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
Yes
Yes
Yes
No
No
N/A
Yes
Yes
Yes
Yes
Yes
No
N/A
Yes
Yes
Yes
Yes
B
SO
R/W
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
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
W
R
W
R/W
R/W
R/W
R/W
R/W
R/W
N/A
R
R
R
R
O
Name
FLASH_CNT
SUPPLY_OUT
XGYRO_OUT
YGYRO_OUT
ZGYRO_OUT
XACCL_OUT
YACCL_OUT
ZACCL_OUT
XMAGN_OUT
YMAGN_OUT
ZMAGN_OUT
BARO_OUT
BARO_OUTL
TEMP_OUT
AUX_ADC
XGYRO_OFF
YGYRO_OFF
ZGYRO_OFF
XACCL_OFF
YACCL_OFF
ZACCL_OFF
XMAGN_HIC
YMAGN_HIC
ZMAGN_HIC
XMAGN_SIC
YMAGN_SIC
ZMAGN_SIC
GPIO_CTRL
MSC_CTRL
SMPL_PRD
SENS_AVG
SLP_CTRL
DIAG_STAT
GLOB_CMD
ALM_MAG1
ALM_MAG2
ALM_SMPL1
ALM_SMPL2
ALM_CTRL
AUX_DAC
Reserved
LOT_ID1
LOT_ID2
PROD_ID
SERIAL_NUM
See Table 34
See Table 35
See Table 36
See Table 37
N/A means not applicable.
Each register contains two bytes. The address of the lower byte is displayed. The address of the upper byte is equal to the address of the lower byte plus 1.
Rev. C | Page 14 of 24
Data Sheet
ADIS16407
SYSTEM FUNCTIONS
The ADIS16407 provides a number of system controls for
managing operation, using the registers in Table 31.
PRODUCT IDENTIFICATION
Register Name
MSC_CTRL
SLP_CTRL
DIAG_STAT
GLOB_CMD
LOT_ID1
LOT_ID2
PROD_ID
SERIAL_NUM
Address
0x38
0x3E
0x40
0x42
0x52
0x54
0x56
0x58
Description
Self test, calibration, data ready
Sleep mode control
Error flags
Single command functions
Lot Identification Code 1
Lot Identification Code 2
Product identifier
Serial number
GLOBAL COMMANDS
Table 34. LOT_ID1 (Base Address = 0x52), Read Only
Bits
[15:0]
Description
Lot identification, binary code
Table 35. LOT_ID2 (Base Address = 0x54), Read Only
Bits
[15:0]
Description
Lot identification, binary code
Table 36. PROD_ID Bit (Base Address = 0x56), Read Only
B
SO
LE
The GLOB_CMD register in Table 32 provides trigger bits for
software reset, flash memory management, DAC control, and
calibration control. Start each of these functions by writing a 1 to
the assigned bit in GLOB_CMD. After completing the task, the bit
automatically returns to 0. For example, set GLOB_CMD[7] = 1
(DIN = 0xC280) to initiate a software reset, which stops the sensor
operation and runs the device through its start-up sequence. Set
GLOB_CMD[3] = 1 (DIN = 0xC208) to back up the user register
contents in nonvolatile flash. This sequence includes loading
the control registers with the data in their respective flash
memory locations prior to producing new data.
The PROD_ID register in Table 36 contains the binary equivalent
of the part number. It provides a product specific variable for
systems that need to track this in their system software. The
LOT_ID1 and LOT_ID2 registers in Table 34 and Table 35
combine to provide a unique, 32-bit lot identification code. The
SERIAL_NUM register in Table 37 contains a binary number
that represents the serial number on the device label. The
assigned serial numbers in SERIAL_NUM are lot specific.
TE
Table 31. System Tool Registers
Table 32. GLOB_CMD (Base Address = 0x42), Write Only
Description (Default = 0x0000)
Not used
Software reset
Not used
Flash update
Auxiliary DAC data latch
Factory calibration restore
Gyroscope bias correction
Description (Default = 0x4017)
Binary number, equivalent to part number
Contents = 16,407 = 0x4017
Table 37. SERIAL_NUM (Base Address = 0x58), Read Only
Bits
[15:12]
[11:0]
Description
Reserved
Serial number, 1 to 4094 (0xFFE)
MEMORY MANAGEMENT
The FLASH_CNT register in Table 38 provides a 16-bit counter
that helps track the number of write cycles to the nonvolatile flash
memory. The flash updates every time a manual flash update
occurs. A manual flash update is initiated by the GLOB_CMD[3]
bit and is also performed at the completion of the GLOB_CMD[1:0]
functions (see Table 32).
POWER MANAGEMENT
Table 38. FLASH_CNT (Base Address = 0x00), Read Only
O
Bits
[15:8]
[7]
[6:4]
[3]
[2]
[1]
[0]
Bits
[15:0]
Bits
[15:0]
The SLP_CTRL register (see Table 33) provides two sleep
modes for system level management: normal and timed. Set
SLP_CTRL[8] = 1 (DIN = 0xBF01) to start normal sleep mode.
When the device is in sleep mode, the following events can cause
it to wake up: asserting CS from high to low, asserting RST from
high to low, or cycling the power. Use SLP_CTRL[7:0] to put the
device into sleep mode for a specified period. For example,
SLP_CNT[7:0] = 0x64 (DIN = 0xBE64) puts the ADIS16407 to
sleep for 50 seconds.
Table 33. SLP_CTRL (Base Address = 0x3E), Write Only
Bits
[15:9]
[8]
[7:0]
Description
Not used
Normal sleep mode (1 = start sleep mode)
Timed sleep mode (write 0x01 to 0xFF to start)
Sleep mode duration, binary, 0.5 sec/LSB
Description
Binary counter
Checksum Test
Set MSC_CTRL[11] = 1 (DIN = 0xB908) to perform a checksum test of the internal program memory. This function takes a
summation of the internal program memory and compares it with
the original summation value for the same locations (from factory
configuration). Check the results in the DIAG_STAT register, which
is in Table 40. DIAG_STAT[6] equals 0 if the sum matches the
correct value, and 1 if it does not. Make sure that the power
supply is within specification for the entire 20 ms that this
function takes to complete.
Rev. C | Page 15 of 24
ADIS16407
Data Sheet
SELF TEST FUNCTION
STATUS/ERROR FLAGS
Gyroscopes/Accelerometers
The DIAG_STAT register in Table 40 provides error flags for
a number of functions. Each flag uses 1 to indicate an error condition and 0 to indicate a normal condition. Reading this register
provides access to the status of each flag and resets all of the bits
to 0 for monitoring future operation. If the error condition remains,
the error flag returns to 1 at the conclusion of the next sample
cycle. DIAG_STAT[0] does not require a read of this register to
return to 0. If the power supply voltage goes back into range, this
flag clears automatically. The SPI communication error flag in
DIAG_STAT[3] indicates that the number of SCLKs in a SPI
sequence did not equal a multiple of 16 SCLKs.
Table 39. MSC_CTRL (Base Address = 0x38), Read/Write
[9:8]
[7]
[6]
[5:3]
[2]
[1]
[0]
1
[14]
[13]
The bit is automatically reset to 0 after finishing the test.
Barometer
[12]
[11]
[10]
B
SO
[10]
Description (Default = 0x0006)
Not used
Checksum memory test (cleared upon completion)1
1 = enabled, 0 = disabled
Internal self test (cleared upon completion)1
1 = enabled, 0 = disabled
Do not use, always set to 00
Linear acceleration bias compensation for gyroscopes
1 = enabled, 0 = disabled
Point of percussion, see Figure 6
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
Bits
[15]
Description (Default = 0x0000)
Z-axis accelerometer self test result
1 = fail, 0 = pass
Y-axis accelerometer self test result
1 = fail, 0 = pass
X-axis accelerometer self test result
1 = fail, 0 = pass
Z-axis gyroscope self test result
0 = pass
Y-axis gyroscope self test result
1 = fail, 0 = pass
X-axis gyroscope self test result
1 = fail, 0 = pass
Alarm 2 status
1 = active, 0 = inactive
Alarm 1 status
1 = active, 0 = inactive
Barometer self test
1 = fail (issue with sensor function), 0 = pass (no issue)
Flash test (checksum) result
1 = fail, 0 = pass
Self test diagnostic result
1 = fail, 0 = pass
Sensor overrange condition
1 = overrange, 0 = normal
SPI communication
1 = fail (number of SCLKs not equal to a multiple of 16)
0 = pass (number of SCLKs is equal to a multiple of 16)
Flash update verification
1 = fail (flash update was not successful)
0 = pass (flash update was successful)
Power supply high
1 = VDD > 5.25 V
0 = VDD ≤ 5.25 V
Power supply low
1 = VDD < 4.75 V
0 = VDD ≥ 4.75 V
LE
Bits
[15:12]
[11]
Table 40. DIAG_STAT (Base Address = 0x40), Read Only
TE
The MSC_CTRL register in Table 39 provides a self test function
for the gyroscopes and accelerometers. This function allows the
user to verify the mechanical integrity of each MEMS sensor.
When enabled, the self test applies an electrostatic force to each
internal sensor element, which causes them to move. The movement in each element simulates its response to actual rotation/
acceleration and generates a predictable electrical response in the
sensor outputs. The ADIS16407 exercises this function and
compares the response to an expected range of responses and reports
a pass/fail response to DIAG_STAT[5]. If this is high, the
DIAG_STAT[15:10] provide pass/fail flags for each inertial sensor.
[8]
[7]
[6]
[5]
The barometer self test function is part of the power-on and
reset initialization processes. DIAG_STAT[7] (see Table 40)
contains the result of this test after the device completes normal
operation. If DIAG_STAT[7] = 1, initiate a software reset by
setting GLOB_CMD[7] = 1 (DIN = 0xC280). If DIAG_STAT[7]
= 0 after the reset process completes, then the barometer is
functional. A persistent fail result in DIAG_STAT[7] indicates a
potential problem with the barometer.
O
[9]
[4]
[3]
[2]
[1]
[0]
Rev. C | Page 16 of 24
Data Sheet
ADIS16407
INPUT/OUTPUT CONFIGURATION
Table 41. Input/Output Registers
Register Name
GPIO_CTRL
MSC_CTRL
AUX_DAC
Address
0x36
0x38
0x4E
Description
General-purpose I/O control
Self test, calibration, data ready
Output voltage control, AUX_DAC
DATA READY INDICATOR
The factory default setting of MSC_CTRL[2:0] = 110 establishes
DIO1 as a positive polarity data ready signal. See Table 39 for
additional data ready configuration options. For example, set
MSC_CTRL[2:0] = 100 (DIN = 0xB804) to change the polarity of
the data ready signal on DIO1 for interrupt inputs that require
negative logic inputs for activation. The pulse width is typically
between 60 µs and 150 µs, including jitter (±30 µs).
GENERAL-PURPOSE INPUT/OUTPUT
For example, set GPIO_CTRL[3:0] = 0100 (DIN = 0xB604)
to set DIO3 as an output signal pin and DIO1, DIO2, and
DIO4 as input signal pins. Set the output on DIO3 to 1 by
setting GPIO_CTRL[10] = 1 (DIN = 0xB704). Then, read
GPIO_CTRL[7:0] (DIN = 0x3600) and mask off GPIO_CTRL[9:8]
and GPIO_CTRL[11] to monitor the digital signal levels on
DIO4, DIO2, and DIO1.
AUXILIARY DAC
The AUX_DAC register in Table 43 provides user controls for
setting the output voltage on the AUX_DAC pin. The 12-bit
AUX_DAC line can drive its output to within 5 mV of the ground
reference when it is not sinking current. As the output approaches
0 V, the linearity begins to degrade (~100 LSB starting point). As
the sink current increases, the nonlinear range increases. The
DAC latch command in GLOB_CMD[2] (see Table 32) moves
the values of the AUX_DAC register into the DAC input register,
enabling both bytes to take effect at the same time. This prevents
undesirable output levels, which reflect single byte changes of
the AUX_DAC register.
B
SO
LE
DIO1, DIO2, DIO3, and DIO4 are configurable, general-purpose
input/output lines that serve multiple purposes. The data ready
controls in MSC_CTRL[2:0] have the highest priority for
configuring DIO1 and DIO2. The alarm indicator controls in
ALM_CTRL[2:0] have the second highest priority for configuring
DIO1 and DIO2. The external clock control associated with
SMPL_PRD[0] has the highest priority for DIO4 configuration
(see Table 46). GPIO_CTRL in Table 42 has the lowest priority
for configuring DIO1, DIO2, and DIO4, and has absolute
control over DIO3.
Example Input/Output Configuration
TE
Table 41 provides a summary of registers that provide input/output
configuration and control.
Table 42. GPIO_CTRL (Base Address = 0x36), Read/Write
Description (Default = 0x0000)
Not used
General-Purpose I/O Line 4 (DIO4) data level
General-Purpose I/O Line 3 (DIO3) data level
General-Purpose I/O Line 2 (DIO2) data level
General-Purpose I/O Line 1 (DIO1) data level
Not used
General-Purpose I/O Line 4 (DIO4) direction control
1 = output, 0 = input
General-Purpose I/O Line 3 (DIO3) direction control
1 = output, 0 = input
General-Purpose I/O Line 2 (DIO2) direction control
1 = output, 0 = input
General-Purpose I/O Line 1 (DIO1) direction control
1 = output, 0 = input
[2]
[1]
[0]
Description (Default = 0x0000)
Not used
Data bits, scale factor = 0.8059 mV/LSB, offset binary
format, 0 V = 0 LSB
Table 44. Setting AUX_DAC = 1 V
DIN
0xCED9
0xCF04
0xC204
O
Bits
[15:12]
[11]
[10]
[9]
[8]
[7:4]
[3]
Table 43. AUX_DAC (Base Address = 0x4E), Read/Write
Bits
[15:12]
[11:0]
Rev. C | Page 17 of 24
Description
AUX_DAC[7:0] = 0xD9 (217 LSB)
AUX_DAC[15:8] = 0x04 (1024 LSB)
GLOB_CMD[2] = 1; move values into the DAC input
register, resulting in a 1 V output level
ADIS16407
Data Sheet
DIGITAL PROCESSING CONFIGURATION
0
Table 45. Digital Processing Registers
Description
Sample rate control
Digital filtering and range control
–20
–40
SAMPLE RATE
The internal sampling system produces new data in the output
data registers at a rate of 819.2 SPS. The SMPL_PRD register in
Table 46 provides two functional controls that affect sampling
and register update rates. SMPL_PRD[12:8] provides a control
for reducing the update rate, using an averaging filter with a decimated output. These bits provide a binomial control that divides
the data rate by a factor of 2 every time this number increases
by 1. For example, set SMPL_PRD[15:8] = 0x04 (DIN = 0xBB04)
to set the decimation factor to 16. This reduces the update rate
to 51 SPS and the bandwidth to 25 Hz.
–80
–100
–120
N=2
N=4
N = 16
N = 64
–140
0.001
0.01
0.1
1
TE
FREQUENCY (f/fS)
Figure 18. Bartlett Window, FIR Filter Frequency Response
(Phase Delay = (2NB − 1)/2 Samples)
DYNAMIC RANGE
The SENS_AVG[10:8] bits provide three dynamic range settings
for this gyroscope. The lower dynamic range settings (±75°/sec
and ±150°/sec) limit the minimum filter tap sizes to maintain
resolution. For example, set SENS_AVG[10:8] = 010 (DIN =
0xBD02) for a measurement range of ±150°/sec. Because this
setting can influence the filter settings, program SENS_AVG[10:8]
before programming SENS_AVG[2:0] if more filtering is required.
Table 46. SMPL_PRD (Base Address = 0x3A), Read/Write
Description (Default = 0x0001)
Not used
D, decimation rate setting, binomial, see Figure 19
Not used
Clock
1 = internal 819.2 SPS
0 = external
LE
Table 47. SENS_AVG (Base Address = 0x3C), Read/Write
SMPL_PRD[0] provides a control for synchronizing the internal
sampling to an external clock source. Set SMPL_PRD[0] = 0
(DIN = 0xBA00) and GPIO_CTRL[3] = 0 (DIN = 0xB600) to
enable the external clock. See Table 2 and Figure 4 for timing
information.
[7:3]
[2:0]
Description (Default = 0x0402)
Not used
Measurement range (sensitivity) selection
100 = ±300°/sec (default condition)
010 = ±150°/sec, filter taps ≥ 9 (Bits[2:0] ≥ 0x02)
001 = ±75°/sec, filter taps ≥ 33 (Bits[2:0] ≥ 0x04)
Not used
Filter Size Variable B
Total number of taps; NT = 2B + 1 − 1
See Figure 18 for filter response
B
SO
INPUT CLOCK CONFIGURATION
Bits
[15:11]
[10:8]
DIGITAL FILTERING
O
The SENS_AVG register in Table 47 provides user controls for
the low-pass filter. This filter contains two cascaded averaging
filters that provide a Bartlett window, FIR filter response (see
Figure 19). For example, set SENS_AVG[2:0] = 100 (DIN = 0xBC04)
to select 33 taps. When used with the default sample rate of
819.2 SPS and zero decimation (SMPL_PRD[15:8] = 0x00), this
value reduces the sensor bandwidth to approximately 16 Hz.
BARTLETT WINDOW
FIR FILTER
MEMS
SENSOR
LOW-PASS
FILTER
330Hz
1
NB
ADC
GYROSCOPES
LOW-PASS, TWO-POLE (404Hz, 757Hz)
CLOCK
819.2SPS
NB
x(n)
n=1
1
NB
NB
x(n)
n=1
B = SENS_AVG[2:0]
NB = 2B
NT = 2NB - 1
AVERAGE/
DECIMATION
FILTER
1
ND
ND
÷ND
x(n)
n=1
D = SMPL_PRD[12:8]
ND = 2D
ND = NUMBER OF TAPS
ACCELEROMETERS
LOW-PASS, SINGLE-POLE (330Hz)
EXTERNAL CLOCK ENABLED
BY SMPL_PRD[0] = 0
Figure 19. Sampling and Frequency Response Block Diagram
Rev. C | Page 18 of 24
09797-019
Bits
[15:13]
[12:8]
[7:1]
[0]
–60
09797-018
Address
0x3A
0x3C
MAGNITUDE (dB)
Register Name
SMPL_PRD
SENS_AVG
Data Sheet
ADIS16407
CALIBRATION
The mechanical structure and assembly process of the ADIS16407
provide excellent position and alignment stability for each sensor,
even after subjected to temperature cycles, shock, vibration, and
other environmental conditions. The factory calibration includes a
dynamic characterization of each gyroscope and accelerometer over
temperature and generates sensor specific correction formulas.
Table 48 provides a list of registers that can help optimize system
performance after installation. Figure 20 illustrates the summing
function for the offset correction register of each sensor.
Table 48. Registers for User Calibration
Bits
[15:14]
[13:0]
Bits
[15:14]
[13:0]
Description (Default = 0x0000)
Not used
Y-axis, gyroscope offset correction factor,
twos complement, 0.0125°/sec per LSB
Description (Default = 0x0000)
Not used
Z-axis, gyroscope offset correction factor,
twos complement, 0.0125°/sec per LSB
Gyroscope Bias Correction Factors
When the bias estimate is complete, multiply the estimate by −1
to change its polarity, convert it into digital format for the offset
correction registers (Table 49), and write the correction factors
to the correction registers. For example, lower the x-axis bias by
10 LSB (0.125°/sec) by setting XGYRO_OFF = 0x1FF6 (DIN =
0x9F1F, 0x9EF6).
The XGYRO_OFF (Table 49), YGYRO_ OFF (Table 50), and
ZGYRO_ OFF (Table 51) registers provide user-programmable
bias adjustment function for the x-, y-, and z-axis gyroscopes,
respectively. Figure 20 illustrates that they contain bias correction
factors that adjust to the sensor data immediately before it loads
into the output register.
Single Command Bias Correction
GLOB_CMD[0] (Table 32) loads the xGYRO_OFF registers
with the values that are the opposite of the values that are in
xGYRO_OUT, at the time of initiation. Use this command,
together with the decimation filter (SMPL_PRD[12:8], Table 46),
to automatically average the gyroscope data and improve the
accuracy of this function, as follows:
1.
2.
XGYRO_OUT
XGYRO_OFF
09797-020
FACTORY
CALIBRATION
AND
FILTERING
O
ADC
Table 50. YGYRO_OFF (Base Address = 0x20), Read/Write
Table 51. ZGYRO_OFF (Base Address = 0x22), Read/Write
GYROSCOPES
X-AXIS
MEMS
GYRO
Description (Default = 0x0000)
Not used
X-axis, gyroscope offset correction factor,
twos complement, 0.0125°/sec per LSB
TE
Description
Gyroscope bias, x-axis
Gyroscope bias, y-axis
Gyroscope bias, z-axis
Accelerometer bias, x-axis
Accelerometer bias, y-axis
Accelerometer bias, z-axis
Hard iron correction, x-axis
Hard iron correction, y-axis
Hard iron correction, z-axis
Soft iron correction, x-axis
Soft iron correction, y-axis
Soft iron correction, z-axis
Miscellaneous calibration
Automatic calibration
Bits
[15:14]
[13:0]
LE
Address
0x1E
0x20
0x22
0x24
0x26
0x28
0x2A
0x2C
0x2E
0x30
0x32
0x34
0x38
0x42
B
SO
Register
XGYRO_OFF
YGYRO_OFF
ZGYRO_OFF
XACCL_OFF
YACCL_OFF
ZACCL_OFF
XMAGN_HIC
YMAGN_HIC
ZMAGN_HIC
XMAGN_SIC
YMAGN_SIC
ZMAGN_SIC
MSC_CTRL
GLOB_CMD
Table 49. XGYRO_OFF (Base Address = 0x1E), Read/Write
3.
4.
Figure 20. User Calibration, XGYRO_OFF Example
Gyroscope Bias Error Estimation
Any system level calibration function must start with an estimate
of the bias errors, which typically comes from a sample of gyroscope output data, when the device is not in motion. The sample
size of data depends on the accuracy goals. Figure 7 provides a
trade-off relationship between averaging time and the expected
accuracy of a bias measurement. Vibration, thermal gradients,
and power supply instability can influence the accuracy of this
process.
Rev. C | Page 19 of 24
Set SENS_AVG[10:8] = 001 (DIN = 0xBD01) to optimize
the xGYRO_OUT sensitivity to 0.0125°/sec/LSB.
Set SMPL_PRD[12:8] = 0x10 (DIN = 0xBB10) to set the
decimation rate to 65,536 (216), which provides an averaging
time of 80 seconds (65,536 ÷ 819.2 SPS).
Wait for 80 seconds while keeping the device motionless.
Set GLOB_CMD[0] = 1 (DIN = 0xC201) and wait for the
time it takes to perform the flash memory backup (~75 ms).
ADIS16407
Data Sheet
ACCELEROMETERS
The XACCL_ OFF (Table 52), YACCL_ OFF (Table 53), and
ZACCL_ OFF (Table 54) registers provide user programmable
bias adjustment function for the x-, y-, and z-axis accelerometers,
respectively. These registers adjust the accelerometer data in the
same manner as XGYRO_OFF functions in Figure 20.
Description (Default = 0x0000)
Not used
X-axis, accelerometer offset correction factor,
twos complement, 3.333 mg/LSB
ORIGIN ALIGNMENT REFERENCE POINT
SEE MSC_CTRL[6].
Figure 21. Point of Percussion Physical Reference
TE
Table 53. YACCL_OFF (Base Address = 0x26), Read/Write
Bits
[15:14]
[13:0]
09797-021
Table 52. XACCL_OFF (Base Address = 0x24), Read/Write
Bits
[15:14]
[13:0]
MAGNETOMETER CALIBRATION
Description (Default = 0x0000)
Not used
Y-axis, accelerometer offset correction factor,
twos complement, 3.333 mg/LSB
The ADIS16407 provides registers that contribute to both hard
iron and soft iron correction factors, as shown in Figure 22
XMAGN_SIC
Description (Default = 0x0000)
Not used
Z-axis, accelerometer offset correction factor,
twos complement, 3.333 mg/LSB
Accelerometer Bias Error Estimation
MAGNETIC
SENSOR
FACTORY
CALIBRATION
AND FILTERING
+
×
XMAGN_OUT
XMAGN_HIC
Figure 22. Hard Iron and Soft Iron Factor Correction
Hard Iron Correction
The XMAGN_HIC (Table 55), YMAGN_HIC (Table 56), and
ZMAGN_HIC (Table 57) registers provide the user programmable
bias adjustment function for the x-, y-, and z-axis magnetometers,
respectively. Hard iron effects result in an offset of the magnetometer response.
B
SO
Under static conditions, orient each accelerometer in positions
where the response to gravity is predictable. A common approach
to this is to measure the response of each accelerometer when
they are oriented in peak response positions, that is, where ±1 g
is the ideal measurement position. Next, average the +1 g and
−1 g accelerometer measurements together to estimate the
residual bias error. Using more points in the rotation can
improve the accuracy of the response.
Accelerometer Bias Correction Factors
When the bias estimate is complete, multiply the estimate by
−1 to change its polarity, convert it to the digital format for the
offset correction registers (Table 52), and write the correction
factors to the correction registers. For example, lower the x-axis
bias by 10 LSB (33.3 mg) by setting XACCL_OFF = 0x1FF6
(DIN = 0xA51F, 0xA4F6).
O
ADC
LE
Bits
[15:14]
[13:0]
09797-022
Table 54. ZACCL_OFF (Base Address = 0x28), Read/Write
Point of Percussion Alignment
Set MSC_CTRL[6] = 1 (DIN = 0xB846) to enable this feature
and maintain the factory default settings for DIO1. This feature
performs a point of percussion translation to the point identified
in Figure 21. See Table 39 for more information on MSC_CTRL.
Table 55. XMAGN_HIC (Base Address = 0x2A), Read/Write
Bits
[15:14]
[13:0]
Description (Default = 0x0800)
Not used
X-axis hard iron correction factor,
twos complement, 0.5 mgauss/LSB, 0x0000 = 0
Table 56. YMAGN_HIC (Base Address = 0x2C), Read/Write
Bits
[15:14]
[13:0]
Description (Default = 0x0800)
Not used
Y-axis hard iron correction factor,
twos complement, 0.5 mgauss/LSB, 0x0000 = 0
Table 57. ZMAGN_HIC (Base Address = 0x2E), Read/Write
Bits
[15:14]
[13:0]
Rev. C | Page 20 of 24
Description (Default = 0x0800)
Not used
Z-axis hard iron correction factor,
twos complement, 0.5 mgauss/LSB, 0x0000 = 0
Data Sheet
ADIS16407
Hard Iron Factors
Soft Iron Factors
When the hard iron error estimation is complete, take the
following steps:
When the soft iron error estimation is complete, convert the
sensitivity into the digital format for the soft iron correction
registers (Table 58) and write the correction factors to the
correction registers. A simple method for converting the
correction factor is to divide it by 2 and multiply it by 4095. For
example, increasing the default soft iron factor to approximately
1.15 uses a binary code for 2355, or 0x933. Increase the soft iron
correction factor for the y-axis to approximately 1.15 by setting
YMAGN_SIC = 0x0933 (DIN = 0xB309, 0xB233).
3.
Multiply the estimate by −1 to change its polarity.
Convert it into digital format for the hard iron correction
registers (Table 55).
Write the correction factors to the correction registers. For
example, lower the x-axis bias by 10 LSB (5 mgauss) by
setting XMAGN_HIC = 0x1FF6 (DIN = 0xAB1F, 0xAAF6).
Soft Iron Effects
The XMAGN_SIC (Table 58), YMAGN_SIC (Table 59), and
ZMAGN_SIC (Table 60) registers provide an adjustment
variable for the magnetometer sensitivity adjustment in each
magnetometer response to simplify the process of performing a
system level soft iron correction.
Table 58. XMAGN_SIC (Base Address = 0x30), Read/Write
Description (Default = 0x0800)
Not used
X-axis soft iron correction factor, binary format,
Scale factor = 100%/2048LSB, 0x000 = 0
Example: 0x800 = 100% (factory scale unchanged)
Maximum = 0xFFF = 200% − 100%/2048
Table 59. YMAGN_SIC (Base Address = 0x32), Read/Write
Description (Default = 0x0800)
Not used
Y-axis soft iron correction factor, binary format,
Scale factor = 100%/2048LSB, 0x000 = 0
Example: 0x800 = 100% (factory scale unchanged)
Maximum = 0xFFF = 200% − 100%/2048
B
SO
Bits
[15:12]
[11:0]
When using the user calibration registers to optimize system
level accuracy, keep in mind that the register values are volatile
until their contents are saved in the nonvolatile flash memory.
After writing all of the correction factors into the user correction
registers, set GLOB_CMD[3] = 1 (DIN = 0xC204) to save these
settings in nonvolatile flash memory. Be sure to consider the
endurance rating of the flash memory when determining how
often to update the user correction factors in the flash memory.
LE
Bits
[15:12]
[11:0]
FLASH UPDATES
TE
1.
2.
RESTORING FACTORY CALIBRATION
Set GLOB_CMD[1] = 1 (DIN = 0xC202) to execute the factory
calibration restore function. This is a single command function,
which resets the gyroscope and accelerometer offset registers to
0x0000 and all sensor data to 0. Then, it automatically updates the
flash memory within 75 ms and restarts sampling and processing
data. See Table 32 for more information on GLOB_CMD.
Table 60. ZMAGN_SIC (Base Address = 0x34), Read/Write
Description (Default = 0x0800)
Not used
Z-axis soft iron correction factor, binary format,
Scale factor = 100%/2048LSB, 0x000 = 0
Example: 0x800 = 100% (factory scale unchanged)
Maximum = 0xFFF = 200% − 100%/2048
O
Bits
[15:12]
[11:0]
Rev. C | Page 21 of 24
ADIS16407
Data Sheet
ALARMS
Alarm 1 and Alarm 2 provide two independent alarms. Table 61
lists the alarm control registers, including ALM_CTRL (Table 66),
which provides control bits for data source selection, static/
dynamic comparison, filtering, and alarm indicator.
Table 61. Registers for Alarm Configuration
Address
0x44
0x46
0x48
0x4A
0x4C
The DIAG_STAT[9:8] bits provide error flags that indicate an
alarm condition. The ALM_CTRL[2:0] bits provide controls for
a hardware indicator using DIO1 or DIO2.
Table 66. ALM_CTRL (Base Address = 0x4C), Read/Write
Description
Alarm 1 trigger setting
Alarm 2 trigger setting
Alarm 1 sample period
Alarm 2 sample period
Alarm configuration
Bits
[15:12]
STATIC ALARM USE
LE
The static alarms setting compares the data source selection
(ALM_CTRL[15:8]) with the values in the ALM_MAGx registers
listed in Table 62 and Table 63, using ALM_MAGx[15] to determine the trigger polarity. The data format in these registers
matches the format of the data selection in ALM_CTRL[15:8].
See Table 67, Alarm 1, for a static alarm configuration example.
Table 62. ALM_MAG1 (Base Address = 0x44), Read/Write
[14]
[13:0]
Description (Default = 0x0000)
Trigger polarity
1 = greater than, 0 = less than
Not used
Threshold setting; matches for format of
ALM_CTRL[11:8] output register selection
Table 63. ALM_MAG2 (Base Address = 0x46), Read/Write
Bits
[15]
[14]
[13:0]
[11:8]
[7]
[6]
[5]
[4]
[3]
[2]
[1]
[0]
B
SO
Bits
[15]
Description (Default = 0x0000)
Trigger polarity
1 = greater than, 0 = less than
Not used
Threshold setting; matches for format of
ALM_CTRL[15:12] output register selection
Alarm Example
O
DYNAMIC ALARM USE
The dynamic alarm setting monitors the data selection for a
rate-of-change comparison. The rate-of-change comparison is
represented by the magnitude in the ALM_MAGx registers over
the time represented by the number-of-samples setting in the
ALM_SMPLx registers, located in Table 64. See Table 67, Alarm 2,
for a dynamic alarm configuration example.
Table 67 offers an example that configures Alarm 1 to trigger when
filtered ZACCL_OUT data drops below 0.7 g, and Alarm 2 to
trigger when filtered ZGYRO_OUT data changes by more than
50°/sec over a 100 ms period, or 500°/sec2. The filter setting
helps reduce false triggers from noise and refine the accuracy
of the trigger points. The ALM_SMPL2 setting of 82 samples
provides a comparison period that is approximately equal to
100 ms for an internal sample rate of 819.2 SPS.
Table 67. Alarm Configuration Example
DIN
0xCD47,
0xCC97
Table 64. ALM_SMPL1 (Base Address = 0x48), Read/Write
Bits
[15:8]
[7:0]
Description (Default = 0x0000)
Not used
Binary, number of samples (both 0x00 and 0x01 = 1)
Table 65. ALM_SMPL2 (Base Address = 0x4A), Read/Write
Bits
[15:8]
[7:0]
Description (Default = 0x0000)
Alarm 2 data source selection
0000 = disable
0001 = SUPPLY_OUT
0010 = XGYRO_OUT
0011 = YGYRO_OUT
0100 = ZGYRO_OUT
0101 = XACCL_OUT
0110 = YACCL_OUT
0111 = ZACCL_OUT
1001 =XMAGN_OUT
1010 = YMAGN_OUT
1011 = ZMAGN_OUT
1100 = AUX_ADC
Alarm 1 data source selection (same as Alarm 2)
Alarm 2, dynamic/static (1 = dynamic, 0 = static)
Alarm 1, dynamic/static (1 = dynamic, 0 = static)
Not used
Data source filtering (1 = filtered, 0 = unfiltered)
Not used
Alarm indicator (1 = enabled, 0 = disabled)
Alarm indicator active polarity (1 = high, 0 = low)
Alarm output line select (1 = DIO2, 0 = DIO1)
TE
Register
ALM_MAG1
ALM_MAG2
ALM_SMPL1
ALM_SMPL2
ALM_CTRL
ALARM REPORTING
Description (Default = 0x0000)
Not used
Binary, number of samples (both 0x00 and 0x01 = 1)
0xC703,
0xC6E8
0xC500,
0xC4D2
0xCA52
Rev. C | Page 22 of 24
Description
ALM_CTRL = 0x4797
Alarm 2: dynamic, Δ-ZGYRO_OUT
(Δ-time, ALM_SMPL2) > ALM_MAG2
Alarm 1: static, ZACCL_OUT < ALM_MAG1, filtered data
DIO2 output indicator, positive polarity
ALM_MAG2 = 0x03E8 = 1,000 LSB = 50°/sec
ALM_MAG1 = 0x00D2 = 210 LSB = +0.7 g
ALM_SMPL2[7:0] = 0x52 = 82 samples
82 samples ÷ 819.2 SPS = ~100 ms
Data Sheet
ADIS16407
APPLICATIONS INFORMATION
INSTALLATION/HANDLING
INTERFACE PRINTED CIRCUIT BOARD (PCB)
For ADIS16407 installation, use the following two step process:
The ADIS16407/PCBZ includes one ADIS16407BMLZ and one
interface PCB. The interface PCB simplifies the process of integrating these products into an existing processor system.
1.
2.
Gently pry the connector from its mate using a small slot
screwdriver.
Remove the screws and lift up the device.
Never attempt to unplug the connector by pulling on the plastic
case or base plate. Although the flexible connector is very reliable
in normal operation, it can break when subjected to unreasonable
handling. When broken, the flexible connector cannot be repaired.
The AN-1045 Application Note, iSensor® IMU Mounting Tips,
provides more information about developing an appropriate
mechanical interface design.
GYROSCOPE BIAS OPTIMIZATION
J1 and J2 are dual row, 2 mm (pitch) connectors that work with
a number of ribbon cable systems, including 3M Part 1522120100-GB (ribbon crimp connector) and 3M Part 3625/12 (ribbon
cable). Figure 23 provides a hole pattern design for installing the
ADIS16407BMLZ and the interface PCB onto the same surface.
Figure 24 provides the pin assignments for each connector,
which match the pin descriptions for the ADIS16407BMLZ.
The ADIS16407does not require any external capacitors for
normal operation; therefore, the interface PCB does not use the
C1/C2 pads (not shown in Figure 23).
23.75
LE
J2
1
11
2
12
30.10
J1
1
11
27.70
2
1.20
12
NOTES
1. DIMENSIONS IN MILLIMETERS.
Figure 23. Physical Diagram for the ADIS16407/PCBZ
J2
J1
RST
1
2
SCLK
AUX_ADC
1
2
GND
CS
3
4
DOUT
AUX_DAC
3
4
DIO3
DNC
5
6
DIN
GND
5
6
DIO4
GND
7
8
GND
DNC
7
8
DNC
GND
9
10
VCC
DNC
9
10
DNC
VCC
11
12
VCC
DIO2
11
12
DIO1
O
B
SO
The factory calibration corrects for initial and temperature dependent bias errors in the gyroscopes. Use the
autonull command (GLOB_CMD[0]) and decimation filter
(SMPL_PRD[12:8]) to address rate random walk (RRW)
behaviors. Control physical, power supply, and temperature
stability during the averaging times to help ensure optimal
accuracy during this process. Refer to the AN-1041 Application
Note, iSensor® IMU Quick Start Guide and Bias Optimization
Tips, for more information about optimizing performance.
21.24
09797-023
For removal
Rev. C | Page 23 of 24
Figure 24. J1/J2 Pin Assignments
09797-024
Secure the base plate using machine screws.
Press the connector into its mate.
TE
1.
2.
ADIS16407
Data Sheet
OUTLINE DIMENSIONS
31.900
31.700
31.500
9.464
9.210
8.956
(2×)
17.41
17.21
17.01
(2×)
1.588
BSC
TOP VIEW
22.964
22.710
22.456
1.588
BSC
10.60
BSC
FRONT VIEW
B
SO
23.504
23.250
22.996
2.660
2.500
2.340
1.00
BSC
0.05
BSC
PIN 1
7.18
BSC
LE
10.50
BSC
BOTTOM VIEW
21.410
21.210
21.010
5.20
5.00
4.80
(2×)
14.950
14.550
14.150
PIN 24
4.20
4.00
3.80
(2×)
0.305
BSC (24×)
1.00
BSC (22×)
2.00 BSC
12.10
BSC
SIDE VIEW
4.330
BSC
DETAIL A
DETAIL A
4.162 BSC
1.65 BSC
14.00 BSC
O
CASTING
FEATURE
122208-C
2.382
BSC
TE
23.454
23.200
22.946
Figure 25. 24-Lead Module with Connector Interface
(ML-24-2)
Dimensions shown in millimeters
ORDERING GUIDE
Model 1
ADIS16407BMLZ
ADIS16407/PCBZ
1
Temperature Range
−40°C to +105°C
Package Description
24-Lead Module with Connector Interface
Interface PCB
Z = RoHS Compliant Part.
©2011 Analog Devices, Inc. All rights reserved. Trademarks and
registered trademarks are the property of their respective owners.
D09797-0-10/11(C)
Rev. C | Page 24 of 24
Package Option
ML-24-2
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