MAX21003+T

EVALUATION KIT AVAILABLE MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope General Description ● Unprecedented Accuracy • Embedded Digital-Output Temperature Sensor • Automatic Temperature Compensation • Ultra-Stable Over Temperature and Time • Factory Calibrated The MAX21003 is a low power, low noise, dual-axis angular rate sensor that delivers unprecedented accuracy and sensitivity over temperature and time. It operates with a supply voltage as low as 1.71V for minimum power consumption. It includes a sensing element and an IC interface that provides the measured angular rate to the external world through a digital interface (I2C/SPI). The IC has a full scale of ±31.25/±62.50/±125/±250/ ±500/±1000 degrees per second (dps) and measures rates with a finely tunable user-selectable bandwidth. The high ODR and the large BW, the low noise at highest FS, together with the low phase delay, make the IC suitable for optical image stabilization (OIS) applications. The IC is a highly integrated solution available in a compact 3mm x 3mm x 0.9mm plastic land grid array (LGA) package and does not require any external components other than supply bypass capacitors. It can operate over the -40°C to +85°C temperature range. Applications ● Optical Image Stabilization ● GPS Navigation Systems ● Appliances and Robotics Features and Benefits ● Minimum Overall Footprint • Industry’s Smallest and Thinnest Package for Portable Devices (3mm x 3mm x 0.9mm LGA) • No External Components ● Unique Low-Power Capabilities • Low Operating Current Consumption (5.1mA typ) • Eco Mode Available at 100Hz with 3.0mA (typ) • 1.71V (min) Supply Voltage • Standby Mode Current 2.7mA (typ) • 8.5µA (typ) Power-Down Mode Current • High PSRR and DC-DC Converter Operation • 45ms Turn-On Time from Power-Down Mode • 5ms Turn-On Time from Standby Mode ● OIS Suitability • Minimum Phase Delay (~3° at 10Hz) • High Bandwidth (400Hz) • High ODR (10kHz) • Low Noise (7mdps/√Hz typ) 19-6645; Rev 0; 6/13 ● High-Speed Interface • I2C Standand (100kHz), Fast (400kHz), and High-Speed (3.4MHz) Serial Interface • 10MHz SPI Interface • Reduces AP Load • Enables UI/OIS Serial Interface Multiplexing ● Flexible Embedded FIFO • Size: 512 Bytes (256 x 16 bits) • Single-Byte Reading Available • Four Different FIFO Modes Available • Reduces AP Load ● High Configurability • Integrated Digitally Programmable Low- and Highpass Filters • Independently Selectable Data ODR and Interrupt ODR • 6 Selectable Full Scales (31.25/62.5/125/250/500/1000 dps) • 256-Selectable ODR ● Flexible Interrupt Generator • Two Digital Output Lines • 2 Independent Interrupt Generators • 8 Maskable Interrupt Sources Each • Configurable as Latched/Unlatched/Timed • Embedded Independent Angular Rate Comparators • Independent Threshold and Duration • Level/Pulse and OD/PP Options Available ● Flexible Data Synchronization Pin • External Wakeup • Interrupt Generation • Single Data Capture Trigger • Multiple Data Capture Trigger • LSB Data Mapping ● Unique 48-Bit Serial Number as Die ID ● High-Shock Survivability (10,000 G-Shock) Ordering Information appears at end of data sheet. For related parts and recommended products to use with this part, refer to www.maximintegrated.com/MAX21003.related. MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Absolute Maximum Ratings VDD........................................................................-0.3V to +6.0V VDDIO................................................. -0.3V to Min (VDD + 0.3V) INT1, INT2, SDA_SDI_O, SA0_SDO, SCL_CLK, CS, DSYNC......................-0.3V to (VDDIO + 0.3V) IVDD Continuous Current..................................................100mA IVDDIO Continuous Current...............................................100mA Junction Temperature.......................................................+150°C Operating Temperature Range............................ -40°C to +85°C Storage Temperature Range............................. -40°C to +150°C Lead Temperature (soldering, 10s).................................. +260°C Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent damage to the device. These are stress ratings only, and functional operation of the device at these or any other conditions beyond those indicated in the operational sections of the specifications is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability. Drops onto hard surfaces can cause shocks of greater than 10,000 g and can exceed the absolute maximum rating of the device. Exercise care in handling to avoid damage. Package Thermal Characteristics (Note 1) LGA Junction-to-Case Thermal Resistance (θJC)............ 31.8°C/W Junction-to-Ambient Thermal Resistance (θJA)............ 160°C/W Note 1: Package thermal resistances were obtained using the method described in JEDEC specification JESD51-7, using a four-layer board. For detailed information on package thermal considerations, refer to www.maximintegrated.com/thermal-tutorial. Electrical Characteristics (VDD = VDDIO = 2.5V, , TA = -40°C to +85°C, INT1, INT2, SDA, and SCL are unconnected, unless otherwise noted. Typical values are at TA = +25°C). PARAMETER SYMBOL CONDITIONS MIN TYP MAX UNITS VDD 1.71 2.5 3.6 V VDDIO (Note 2) VDDIO 1.71 2.5 VDD + 0.3V V IDD Current Consumption Normal Mode IVDDN 5.1 mA IDD Current Consumption Standby Mode (Note 3) IVDDS 2.7 mA IDD Current Consumption Eco Mode (Note 4) IVDDT 200Hz ODR 3.3 mA 100Hz ODR 3.0 mA IDD Current Consumption Power Down Mode IVDDP 8.5 µA 8 bit 1 digit/°C 16 bit 256 digit/°C 1 Hz SUPPLY AND CONSUMPTION VDD Supply Voltage TEMPERATURE SENSOR Temperature Sensor Output Change vs. Temperature TSDR Temperature BW TBW Temperature Sensor Bias TBIAS At 25°C, 8 bit 25 At 25°C, 16 bit 6400 digit GYROSCOPE ±31.25 ±62.5 Gyro Full-Scale Range GFSR User selectable ±125 ±250 dps ±500 ±1000 www.maximintegrated.com Maxim Integrated │  2 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Electrical Characteristics (continued) (VDD = VDDIO = 2.5V, TA = -40°C to +85°C, INT1, INT2, SDA, and SCL are unconnected, unless otherwise noted. Typical values are at TA = +25°C). PARAMETER SYMBOL CONDITIONS MIN TYP MAX UNITS GRND For all the fS and over the whole VDD including 1.8V 0.007 dps/√Hz Gyro Rate Noise Density in Eco Mode GSPRND For all the FS and over the whole VDD including 1.8V at 200Hz ODR 0.020 dps/√Hz Gyro Bandwidth (Lowpass) (Note 5) GBWL 2 400 Hz Gyro Bandwidth (Highpass) (Note 6) GBWH 0.1 100 Hz Phase Delay GPDL Output Data Rate (Note 7) GODR Gyro Rate Noise Density Sensitivity Error Sensitivity Sensitivity Drift Over Temperature At 10Hz, 400Hz bandwidth, 10kHz ODR 2.9 3.7 At 10Hz, 400Hz bandwidth, 10kHz ODR 1.0 1.6 5 GSE GSO GSD 10k ±2 GFSR = 31.25 960 GFSR = 62.5 480 GFSR = 125 240 GFSR = 250 120 deg Hz % digit/ dps GFSR = 500 60 GFSR = 1000 30 Maximum delta from TA = +25°C ±2 % ±0.5 dps ±2 dps 45 ms 5 ms Zero Rate Level Error GZRLE Zero Rate Level Drift Over Temperature GZRLD Startup Time from Power Down GTUPL Startup Time from Standby Mode GTUPS Nonlinearity GNLN 0.2 %fS Angular Random Walk (ARW) GARW 0.45 °/√hr 4 °/hr 1 % +fS/2 dps In-Run Bias Stability GIBS Cross Axis GXX Self-Test Output www.maximintegrated.com STOR Maximum delta from TA = +25°C GODR = 10kHz, GBWL = 400Hz At 1000s For GRSR = 125, 250, 500, 1000 dps, axis X, Z Maxim Integrated │  3 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Electrical Characteristics (continued) (VDD = VDDIO = 2.5V, TA = -40°C to +85°C, unless otherwise noted. Typical values are at TA = +25°C). PARAMETER SYMBOL CONDITIONS MIN TYP MAX UNITS +0.3 x VDDIO V IO DC SPECIFICATIONS (Note 9) Input Threshold Low VIL TA = +25°C Input Threshold High VIH TA = +25°C 0.7 x VDDIO V VHYS TA = +25°C 0.05 x VDDIO V Hysteresis of Schmitt Trigger input Output Current (Note 8) I2C_CFG[3:2] = 00 IOH/IOL 3 mA I2C_CFG[3:2] = 01 6 mA I2C_CFG[3:2] = 11 12 mA SPI SLAVE TIMING VALUES (Note 10) CLK Frequency fC_CLK CS Setup Time tSU_CS 10 ns CS Hold Time tH_CS 15 ns SDI Input Setup Time tSU_SI 10 ns SDI Input Hold Time tH_SI 15 ns CLK Fall to SDO Valid Output Time tV_SDO SDO Output Hold Time TH_SO 10 50 10 MHz ns ns I C TIMING (Note 9) 2 SCL Clock Frequency Hold Time (Repeated) START Condition fSCL tHD;STA Low Period of SCL Clock tLOW High Period of SCL Clock tHIGH Setup Time for a Repeated START Condition tSU;STA Data Hold Time tHD;DAT Data Setup Time tSU;DAT www.maximintegrated.com Standard mode 0 100 Fast mode 0 400 Standard mode 4.0 Fast mode 0.6 Standard mode 4.7 Fast mode 1.3 Standard mode 4.0 Fast mode 0.6 Standard mode 4.7 Fast mode 0.6 Standard mode 0 Fast mode 0 Standard mode 250 Fast mode 100 kHz µs µs µs µs µs ns Maxim Integrated │  4 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Electrical Characteristics (continued) (VDD = VDDIO = 2.5V, TA = -40°C to +85°C, unless otherwise noted. Typical values are at TA = +25°C). PARAMETER SYMBOL Setup Time for STOP Condition tSU;STO Bus Free Time Between a STOP and a START Condition tBUF Data Valid Time tVD;DAT Data Valid Acknowledge Time tVD;ACK CONDITIONS MIN Standard mode 4.0 Fast mode 0.6 Standard mode 4.7 Fast mode 1.3 TYP MAX UNITS ns ns Standard mode 3.45 Fast mode 0.9 Standard mode 3.45 Fast mode 0.9 ns ns ESD PROTECTION Human Body Model HBM ±2 kV Note 2: VDDIO must be lower or equal than VDD analog. Note 3: In standby mode, only the drive circuit is powered on. In this condition, the outputs are not available. In this condition, the startup time depends only on the filters responses. Note 4: In eco mode, the sensor has higher rate noise density, but lower current consumption. In this condition, the selectable output data rate (ODR) is either 25Hz, 50Hz, 100Hz, or 200Hz. Note 5: User selectable. Gyro bandwidth accuracy is 10%. Note 6: Enable/disable with user selectable bandwidth. Gyro bandwidth accuracy is 10%. Note 7: User selectable with 256 possible values from 10kHz down to 5Hz. ODR accuracy is ±10%. Note 8: User can choose the best output current based on his PCB, interface speed, load, and consumption. Note 9: Based on characterization results, not tested in production. Note 10: Based on characterization results, not tested in production. Test conditions are I2C_CFG[3:0] = 1111. www.maximintegrated.com Maxim Integrated │  5 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope SPI Timing Diagrams tSU_CS tCSW CS tH_CS 1 CLK 2 8 9 10 11 16 tC_CLK tSU_SI SDI tH_SI SDO tH_SO tV_SDO HI-Z HI-Z tSU_CS tCSW CS tH_CS 1 CLK 2 8 tSU_SI 9 10 11 16 tC_CLK SDI tH_SI SDO HI-Z www.maximintegrated.com tV_SDI HI-Z Maxim Integrated │  6 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope I2C Timing Diagram in Standard Mode tR tF SDA tSU;DAT 70% 30% 70% 30% cont. tVD;DAT tHD;DAT tF tHIGH tR SCL tHD;STA S 70% 30% 70% 30% 70% 30% 70% 30% cont. tLOW 1/fSCL 1st CLOCK CYCLE 9th CLOCK tBUF SDA SCL Sr VIL = 0.3VDD VIH = 0.7VDD www.maximintegrated.com tVD;ACK tHD;STA tSU;STA 70% 30% 9th CLOCK tSU;STO P S 002aac938 Maxim Integrated │  7 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Typical Operating Characteristics (VDD = VDDIO = 2.5V, TA = +25°C, unless otherwise noted.) X-AXIS DIGITAL OUTPUT vs. ANGULAR RATE Z-AXIS DIGITAL OUTPUT vs. ANGULAR RATE 10k 0 -10k TA = -40°C MAX21003 toc02 20k DIGITAL OUTPUT (LSb) 20k 10k 0 TA = +85°C -10k TA = +25°C -20k TA = +25°C -20k TA = +85°C TA = -40°C -30k -30k -2k -1k 0 1k 2k -2k -1k ANGULAR RATE (dps) MAGNITUDE RESPONSE MAGNITUDE (dB) -10 -20 BW = 100Hz BW = 400Hz -30 -20 -30 BW = 10Hz -40 BW = 100Hz -50 BW = 400Hz -60 -70 -40 -50 BP_LPFbit = 1 -10 PHASE (deg) BP_LPFbit = 1 0 BW = 10Hz 2k 1k PHASE RESPONSE 0 MAX21003 toc03 10 0 ANGULAR RATE (dps) MAX21003 toc04 DIGITAL OUTPUT (LSb) 30k MAX21003 toc01 30k -80 1 10 100 FREQUENCY (Hz) www.maximintegrated.com 1k -90 0 100 200 300 400 500 FREQUENCY (Hz) Maxim Integrated │  8 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Pin Configuration N.C. 3 SCL_CLK 4 GND 5 VDD 14 MAX21003 6 7 8 CS 2 15 SA0_SDO N.C. 16 SDA_SDI_O 1 VDD + VDDIO N.C. TOP VIEW 13 RESERVED 12 DSYNC 11 INT1 10 RESERVED 9 INT2 LGA (3mm x 3mm) Pin Description PIN NAME 1 VDD_IO 2, 3, 16 N.C. 4 SCL_CLK 5 GND 6 SDA_SDI_O 7 SA0_SDO FUNCTION Interface and Interrupt Pad Supply Voltage Not Internally Connected SPI and I2C Clock. When in I2C mode, the IO has selectable antispike filter and delay to ensure correct hold time. Power-Supply Ground. SPI In/Out Pin and I2C Serial Data. When in I2C mode, the IO has selectable antispike filter and delay to ensure correct hold time. SPI Serial Data Out or I2C Slave Address LSB 8 CS 9 INT2 10 RESERVED 11 INT1 12 DSYNC 13 RESERVED 14 VDD Analog Power Supply. Bypass to GND with a 0.1µF capacitor and one 1µF capacitor. 15 VDD Must be tied to VDD in the application. www.maximintegrated.com SPI Chip Select/Serial Interface Selection Second Interrupt Line Must Be Connected to GND First Interrupt Line Data Synchronization Pin. Used to wake up the MAX21003 from power-down/standby and synchronize data with GPS/camera. Leave Unconnected Maxim Integrated │  9 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Functional Diagram TIMER MEMS GYRO SENSE FILTERING A A MAX21003 SPI/I2C SLAVE AFE A REGISTERS AND FIFO AFE GYRO DRIVE CONTROL SYNC SA0_SDO CS RING OSCILLATOR VDD The MAX21003 is a low power, low voltage, small package dual-axis angular rate sensor able to provide unprecedented accuracy and sensitivity over temperature and time. The IC is also the industry’s first gyroscope available in a 3mm x 3mm package and capable of working with a supply voltage as low as 1.71V. It includes a sensing element and an IC interface that provides the measured angular rate to the external world through a digital interface (I2C/SPI). The IC has a full scale of ±31.25/±62.5/±125/±250/±500/ ±1000 dps for OIS. It measures rates with a user-selectable bandwidth. The IC is available in a 3mm x 3mm x 0.9 mm plastic land grid array (LGA) package and operates over the -40°C to +85°C temperature range. Power supply (V): This parameter defines the operating DC power-supply voltage range of the MEMS gyroscope. Although it is always a good practice to keep VDD clean with minimum ripple, unlike most of the competitors, who require an ultra-low noise, low-dropout regulator to power DSYNC INT1 INTERRUPTS Detailed Description www.maximintegrated.com SDA_SDI_O AFE GND Definitions SCL_CLK INT2 VDD_IO the MEMS gyroscope, the MAX21003 can not only operate at 1.71V, but that supply can also be provided by a switching regular to minimize the system power consumption. Power-supply current (mA): This parameter defines the typical current consumption when the MEMS gyroscope is operating in normal mode. Power-supply current in standby mode (mA): This parameter defines the current consumption when the MEMS gyroscope is in standby mode. To reduce power consumption and have a faster turn-on time, in standby mode only an appropriate subset of the sensor is turned off. Power supply current in eco mode (mA): This parameter defines the current consumption when the MEMS gyroscope is in a special mode named eco mode. Whilst in eco mode, the MAX21003 significantly reduces the power consumption at the price of a slightly higher rate noise density. Power-supply current in power-down mode (µA): This parameter defines the current consumption when the MEMS gyroscope is powered down. In this mode, both the mechanical sensing structure and reading chain are turned off. Users can configure the control register through the I2C/SPI interface for this mode. Full access Maxim Integrated │  10 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope to the control registers through the I2C/SPI interface is guaranteed also in power-down mode. Dual-Axis MEMS Gyroscope with 16-Bit ADCs and Signal Conditioning Full-scale range (dps): This parameter defines the measurement range of the gyroscope in degrees per second (dps). When the applied angular velocity is beyond the full-scale range, the gyroscope output signal is saturated. The IC consists of a single-drive vibratory MEMS gyroscope that detects rotations around the X and Z axes. When the gyroscope rotates around any of the sensing axes, the Coriolis Force determines a displacement, which can be detected as a capacitive variation. The resulting signal is then processed to produce a digital stream proportional to the angular rate. The analog-todigital conversion uses 16-bit ADC converters. The gyro full-scale range can be digitally programmed to ±31.25/± 62.5/±125/±250/±500/±1000 dps. Zero-rate level (dps): This parameter defines the zero rate level when there is no angular velocity applied to the gyroscope. Sensitivity (digit/dps): Sensitivity (digit/dps) is the relationship between 1 LSB and dps. It can be used to convert a digital gyroscope’s measurement in LSBs to angular velocity. Sensitivity change vs. temperature (%): This parameter defines the sensitivity change in percentage (%) over the operating temperature range specified in the data sheet. Zero-rate level change vs. temperature (dps): This parameter defines the zero-rate level change in dps over the operating temperature range. Nonlinearity (% FS): This parameter defines the maximum error between the gyroscope‘s outputs and the bestfit straight line in percentage with respect to the full-scale (FS) range. System bandwidth (Hz): This parameter defines the frequency of the angular velocity signal from DC to the built-in bandwidth (BW) that the gyroscopes can measure. A dedicated register can be modified to adjust the gyroscope’s bandwidth. Rate noise density (dps/√Hz): This parameter defines the standard resolution that users can get from the gyroscopes outputs together with the BW parameter. MAX21003 Architecture The MAX21003 comprises the following key blocks and functions: Interrupt Generators The MAX21003 offers two completely independent interrupt generators to ease the SW management of the interrupt generated. For instance, one line could be used to signal a DATA_READY event whilst the other line might be used, for instance, to notify the completion of the internal startup sequence. Interrupt functionality can be configured through the Interrupt Configuration registers. Configurable items include the INT pin level and duration, the clearing method, as well as the required triggers for the interrupts. The interrupt status can be read from the Interrupt Status Registers. The event that has generated an interrupt is available in two forms: latched and unlatched. Interrupt sources can be enabled/disabled and cleared individually. The list of possible interrupt sources includes the following conditions: DATA_READY, FIFO_READY, FIFO_ THRESHOLD, FIFO_OVERRUN, RESTART, DSYNC. The interrupt generation can also be configured as latched, unlatched, or timed with programmable length. When configured as latched, the interrupt can be cleared by reading the corresponding status register (clear-onread) or by writing an appropriate mask to the status register (clear-on-write). ● Dual-axis MEMS rate gyroscope sensor with 16-bit ADCs and signal conditioning Digital-Output Temperature Sensor ● Primary I2C and SPI serial communications interfaces ● Sensor data registers ● FIFO ● Synchronization ● Interrupt generators ● Digital output temperature sensor ● Self-test The temperature data is split over 2 bytes. For faster and less accurate reading, accessing the MSB allows to read the temperature data as an absolute value expressed in Celsius degrees (°C). By reading the LSB, the accuracy is greatly increased, up to 256 digit/°C. www.maximintegrated.com A digital output temperature sensor is used to measure the IC die temperature. The readings from the ADC can be accessed from the Sensor Data registers. Maxim Integrated │  11 MAX21003 Power Modes The IC features four power modes, allowing selecting the appropriate tradeoff between power consumption, accuracy, and turn-on time. The transition between power modes can be controlled by software, by explicitly setting a power mode in the Configuration register, or by enabling the automatic power mode transition based on the DSYNC pin. Normal Mode In normal mode, the IC is operational with minimum noise level. Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Table 1. Power Modes NAME Normal Device is operational with maximum performances. Eco Device operates to reduce the average current consumption. Standby In standby mode, the current consumption is reduced by 50% with a shorter turn-on time of 5ms. Power-Down This is the minimum power consumption mode, at the price of a longer turn-on time. Eco Mode The eco mode reduces power consumption with the same sensor accuracy at the price of a higher rate noise density. This unique feature can be activated with four ODRs: 25Hz, 50Hz, 100Hz, and 200Hz. Standby Mode To reduce power consumption and have a shorter turn-on time, the IC features a standby mode. In standby mode, the IC does not generate data, as a significant portion of the signal processing resources is turned off to save power. Still, this mode enables a much quicker turn-on time. Power-Down Mode In power-down mode, the IC is configured to minimize the power consumption. In power-down mode, registers can still be read and written, but the gyroscope cannot generate new data. Compared to the standby mode, it takes longer to activate the IC and to start collecting data from the gyroscope. Digital Interfaces The registers embedded inside the IC can be accessed through both the I2C and SPI serial interfaces. The latter can be SW-configured to operate either in 3-wire or 4-wire interface mode. The serial interfaces are mapped onto the same pins. To select/exploit the I2C interface, CS line must be tied high (i.e., connected to VDDIO). I2C Interface I2C is a two-wire interface comprised of the signals serial data (SDA) and serial clock (SCL). In general, the lines are open-drain and bidirectional. In a generalized I2C interface implementation, attached devices can be a master or a slave. The master device puts the slave address on the bus, and the slave device with the matching address acknowledges the master. www.maximintegrated.com DESCRIPTION Table 2. Digital Interface Pin Description NAME DESCRIPTION CS SPI enable and I2C/SPI mode selection (1: I2C mode, 0: SPI enabled) SCL/CLK SPI and I2C clock. When in I2C mode, the IO has selectable anti-spike filter and delay to ensure correct hold time. SDA/SDI/ SDO SPI in/out pin and I2C serial data. When in I2C mode, the IO has selectable anti-spike filter and delay to ensure correct hold time. SDO/SA0 SPI serial data out or I2C slave address LSB Table 3. I2C Address I2C BASE ADDRESS SA0/SDO PIN R/W BIT RESULTING ADDRESS 0x2C (6 bit) 0 0 0xB0 0x2C 0 1 0xB1 0x2C 1 0 0xB2 0x2C 1 1 0xB3 The IC always operates as a slave device when communicating to the system processor, which thus acts as the master. SDA and SCL lines typically need pullup resistors to VDDIO. The maximum bus speed is 3.4MHz (I2C HS); this reduces the amount of time the system processor is kept busy in supporting the exchange of data. The slave address of the IC is b101100X, which is 7 bits long. The LSb of the 7-bit address is determined by the logic level on pin SA0. This allows two MAX21003s to be connected on the same I2C bus. When used in this configuration, the address of one of the two devices should Maxim Integrated │  12 MAX21003 be b1011000 (pin SA0_SD0 is set to logic-low) and the address of the other should be b1011001 (pin SA0_SD0 is set to logic-high). SPI Interface The IC’s SPI can operate up to 20MHz, in both 3-wires (half duplex) and 4-wires mode (full duplex). It is recommended to set the I2C_DISABLE bit at address 0x15 if the IC is used together with other SPI devices to avoid the possibility to switch inadvertently into I2C mode when traffic is detected with the CS unasserted. The IC operates as an SPI slave device. Both the read register and write register commands are completed in 16 clock pulses, or in multiples of 8 in case of multiple read/ write bytes. Bit duration is the time between two falling edges of CLK. The first bit (bit 0) starts at the first falling edge of CLK after the falling edge of CS while the last bit (bit 15, bit 23, etc.) starts at the last falling edge of CLK just before the rising edge of CS. Bit 0: RW bit. When 0, the data DI[7:0] is written to the IC. When 1, the data DO[7:0] from the device is read. In the latter case, the chip drives SDO at the start of bit 8. Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Full-Duplex Operation The IC is put into full-duplex mode at power-up, or when the SPI master clears the SPI_3_WIRE bit, the SPI interface uses separate data pins, MOSI and MISO to transfer data. Because of the separate data pins, bits can be simultaneously clocked into and out of the IC. The IC makes use of this feature by clocking out 8 output data bits as the command byte is clocked in. Reading from the SPI Slave Interface (MOSI) The SPI master reads data from the IC slave interface using the following steps: 1) When CS is high, the IC is unselected and three-states the MISO output. 2) After driving SCL_CLK to its inactive state, the SPI master selects the IC by driving CS low. 3) The SPI master simultaneously clocks the command byte into the IC The SPI Read command is performed with 16 clock pulses. Multiple byte read command is performed adding blocks of 8 clock pulses at the previous one. Bit 0: READ bit. The value is 1. Bit 1: MS bit. When 1, do not increment address. When 0, increment address in multiple reading. Bits 2–7: address AD[5:0]. This is the address field of the indexed register. If used as MS bit, when 1, the address remains unchanged in multiple read/write commands. When 0, the address is autoincremented in multiple read/write commands. Bits 8–15: data DO[7:0] (read mode). This is the data that is read from the device (MSb first). Bits 16–... : data DO[...–8]. Further data in multiple byte reading. Bits 2–7: Address AD[5:0]. This is the address field of the indexed register. Bits 8–15: Data DI[7:0] (write mode). This is the data that is written to the device (MSb first). 4) After 16 clock cycles, the master can drive CS high to deselect the IC, causing it to three-state its MISO output. The falling edge of the clock puts the MSB of the next data byte in the sequence on the MISO output. Bits 8–15: Data DO[7:0] (read mode). This is the data that is read from the device (MSb first). Bit 1: MS bit. Depending on the configuration of IF_PARITY, this bit can either be used to operate in multi-addressing standard mode or to check the parity with the register address. SPI Half- and Full-Duplex Operation The IC can be programmed to operate in half-duplex (a bidirectional data pin) or full-duplex (one data-in and one data-out pin) mode. The SPI master sets a register bit called SPI_3_WIRE into ITF_OTP to 0 for full-duplex, and 1 for half-duplex operation. Full duplex is the power-on default. www.maximintegrated.com 5) By keeping CS low, the master clocks register data bytes out of the IC by continuing to supply SCL_CLK pulses (burst mode). The master terminates the transfer by driving CS high. The master must ensure that SCL_CLK is in its inactive state at the beginning of the next access (when it drives CS low). Maxim Integrated │  13 MAX21003 Writing to the SPI Slave Interface (SDI) Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Bit 0: READ bit. The value is 1. The SPI master writes data to the IC slave interface through the following steps: Bit 1: MS bit. When 1, do not increment address. When 0, increment address in multiple readings. 1) The SPI master sets the clock to its inactive state. When CS is high, the master can drive the MOSI input. Bit 2–7: Address AD[5:0]. This is the address field of the indexed register. 2) The SPI master selects the IC by driving CS low. 3) The SPI master simultaneously clocks the command byte into the IC. The SPI write command is performed with 16 clock pulses. Multiple byte write command is performed adding blocks of 8 clock pulses at the previous one. Bit 8–15: data DO[7:0] (read mode). This is the data that is read from the device (MSb first). Multiple read command is also available in 3-wire mode. Sensor Data Registers Bit 0: WRITE bit. The value is 0. Bit 1: MS bit. When 1, do not increment address, when 0, increment address in multiple writing. Bits 2–7: address AD[5:0]. This is the address field of the indexed register. Bits 8–15: data DI[7:0] (write mode). This is the data that is written inside the device (MSb first). Bits 16–... : data DI[...–8]. Further data in multiple byte writing. 4) By keeping CS low, the master clocks data bytes into the IC by continuing to supply SCL_CLK pulses (burst mode). The master terminates the transfer by driving CS high. The master must ensure that SCL_CLK is inactive at the beginning of the next access (when it drives CS low). In full-duplex mode, the IC outputs data bits on MISO during the first 8 bits (the command byte), and subsequently outputs zeros on MISO as the SPI master clocks bytes into MOSI. Half-Duplex Operation When the SPI master sets SPI_3_WIRE = 1, the IC is put into half-duplex mode. In half-duplex mode, the IC threestates its MISO pin and makes the MOSI pin bidirectional, saving a pin in the SPI interface. The MISO pin can be left unconnected in half-duplex operation. The SPI master must operate the MOSI pin as bidirectional. It accesses a IC register as follows: the MOSI master sets the clock to its inactive state. While CS is high, the master can drive the SDI pin to any value. 1) The SPI master selects the IC by driving CS low and placing the first data bit (MSB) to write on the SDI input. 2) The SPI master turns on its output driver and clocks the command byte into the IC. The SPI read command is performed with 16 clock pulses: www.maximintegrated.com The sensor data registers contain the latest gyroscope and temperature measurement data. They are read-only registers and are accessed through the serial interface. Data from these registers can be read anytime. However, the interrupt function can be used to determine when new data is available. FIFO The IC embeds a 256-slot of a 16-bit data FIFO for each of the three output channels: yaw and pitch. This allows a consistent power saving for the system since the host processor does not need to continuously poll data from the sensor, but it can wake up only when needed and burst the significant data out from the FIFO. When configured in Snapshot mode, it offers the ideal mechanism to capture the data following a Rate Interrupt event. This buffer can work according to four main modes: off, normal, interrupt, and snapshot. Both Normal and Interrupt modes can be optionally configured to operate in overrun mode, depending on whether, in case of buffer under-run, newer or older data are lost. Various FIFO status flags can be enabled to generate interrupt events on INT1/INT2 pin. FIFO Off Mode In this mode, the FIFO is turned off; data are stored only in the data registers and no data are available from the FIFO if read. When the FIFO is turned off, there are essentially two options to use the device: synchronous and asynchronous reading. Synchronous Reading In this mode, the processor reads the data set (e.g., 4 bytes for a 2 axes configuration) generated by the IC every time that DATA_READY is set. The processor must read once and only once the data set in order to avoid data inconsistencies. Maxim Integrated │  14 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Benefits of using this approach include the perfect reconstruction of the signal coming from the gyroscope and minimum data traffic. Asynchronous Reading In this mode, the processor reads the data generated by the IC regardless the status of the DATA_READY flag. To minimize the error caused by different samples being read a different number of times, the access frequency to be used must be much higher than the selected ODR (e.g., 10x). This approach normally requires a much higher BW. FIFO Normal Mode data rate (ODR). ● When FIFO is full, an interrupt can be generated. ● When FIFO is full, all the new incoming data is discharged. Reading only a subset of the data already stored into the FIFO keeps locked the possibility for new data to be written. ● Only if all the data are read, the FIFO restarts saving data. ● If communication speed is high, data loss can be prevented. ● To prevent a FIFO-full condition, the required condition is to complete the reading of the data set before the next DATA_READY occurs. Overrun = false ● FIFO is turned on. ● FIFO is filled with the data at the selected output 255 ● If this condition is not guaranteed, data can be lost. 255 255 (WP-RP) = LEVEL (WP-RP) = LEVEL (WP-RP) = LEVEL THRESHOLD 0 LEVEL INCREMENTS WITH NEW SAMPLES STORED AND DECREMENTS WITH NEW READINGS. THRESHOLD 0 FIFO_OVTHOLD INTERRUPT GENERATED. THRESHOLD 0 FIFO_FULL INTERRUPT GENERATED. NO NEW DATA STORED UNTIL THE ENTIRE FIFO IS READ. Figure 1. FIFO Normal Mode, Overrun = False www.maximintegrated.com Maxim Integrated │  15 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Interrupt Mode Overrun = true Overrun = false ● FIFO is turned on. ● FIFO is filled with the data at the selected ODR. ● When FIFO is full, an interrupt can be generated. ● When FIFO is full, the oldest data is overwrittenwith the new ones. ● If communication speed is high, data integrity can be preserved. ● To prevent a DATA_LOST condition, the required condition is to complete the reading of the data set before the next DATA_READY occurs. ● If this condition is not guaranteed, data can be overwritten. ● When an overrun condition occurs the reading pointer is forced to writing pointer -1 to ensure only older data are discarded and newer data have a chance to be read. ● FIFO is initially disabled. Data are stored only in the data registers. ● When a rate interrupt (either OR or AND) is generated, the FIFO is turned on automatically. It stores the data at the selected ODR. ● When FIFO is full, all the new incoming data is discharged. Reading only a subset of the data already stored into the FIFO keeps locked the possibility for new data to be written. ● Only if all the data are read, the FIFO restarts saving data. ● If communication speed is high, data loss can be prevented. ● To prevent a FIFO-full condition, the required condition is to complete the reading of the data set before the next DATA_READY occurs. ● If this condition is not guaranteed, data can be lost. FIFO USED AS CIRCULAR BUFFER FIFO USED AS CIRCULAR BUFFER WP FIFO USED AS CIRCULAR BUFFER THRESHOLD RP WP THRESHOLD THRESHOLD RP WP RP WP-RP INCREMENTS WITH NEW SAMPLES STORED AND DECREMENTS WITH NEW READINGS. FIFO_OVTHOLD INTERRUPT GENERATED. FIFO_FULL INTERRUPT GENERATED. NEW INCOMING DATA WOULD OVERWRITE THE OLDER ONES. Figure 2. FIFO Normal Mode, Overrun = True www.maximintegrated.com Maxim Integrated │  16 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope MAX FIFO INITIALLY OFF. WHEN THE PROGRAMMED RATE INTERRUPT OCCURS, TURN FIFO ON. LEVEL 0 MAX MAX MAX (WP-RP) = LEVEL (WP-RP) = LEVEL (WP-RP) = LEVEL 0 THRESHOLD LEVEL INCREMENTS WITH NEW SAMPLES STORED AND DECREMENTS WITH NEW READINGS. THRESHOLD 0 FIFO_OVTHOLD INTERRUPT GENERATED. THRESHOLD 0 FIFO_FULL INTERRUPT GENERATED. NO NEW DATA STORED UNTIL THE ENTIRE FIFO IS READ. Figure 3. FIFO Interrupt Mode, Overrun = False www.maximintegrated.com Maxim Integrated │  17 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Overrun = true ● FIFO is initially disabled. Data are stored only in the data registers. ● When a Rate Interrupt (either OR or AND) is generated, the FIFO is turned on automatically. It stores the data at the selected ODR. ● When FIFO is full, an interrupt can be generated. ● When FIFO is full, the oldest data is overwritten with the new ones. ● In order to prevent a DATA_LOST condition, the required condition is to complete the reading of the data set before the next DATA_READY occurs. ● If this condition is not guaranteed, data can be overwritten. ● When an overrun condition occurs, the reading pointer is forced to writing pointer -1 to ensure only older data are discarded and newer data have a chance to be read. ● If communication speed is high, data integrity can be preserved. MAX FIFO INITIALLY OFF. WHEN THE PROGRAMMED RATE INTERRUPT OCCURS, TURN FIFO ON. LEVEL 0 WP THRESHOLD RP WP THRESHOLD THRESHOLD RP WP = RP WP-RP INCREMENTS WITH NEW SAMPLES STORED AND DECREMENTS WITH NEW READINGS. FIFO_OVTHOLD INTERRUPT GENERATED. FIFO_FULL INTERRUPT GENERATED. NEW INCOMING DATA WOULD OVERWRITE THE OLDER ONES. Figure 4. FIFO Interrupt Mode, Overrun = True www.maximintegrated.com Maxim Integrated │  18 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Snapshot Mode stored into the FIFO keeps locked the possibility for new data to be written. ● FIFO is initially in normal mode with overrun enabled. ● When a Rate Interrupt (either OR or AND) is generated, the FIFO switches automatically to notoverrun mode. It stores the data at the selected ODR until the FIFO becomes full. ● When FIFO is full, an interrupt can be generated. ● When FIFO is full, all the new incoming data is discharged. Reading only a subset of the data already FIFO USED AS CIRCULAR BUFFER ● Only if all the data are read the FIFO restarts saving data. ● If communication speed is high, data loss can be prevented. ● To prevent a FIFO_FULL condition, the required condition is to complete the reading of the data set before the next DATA_READY occurs. ● If this condition is not guaranteed, data can be lost. FIFO USED AS CIRCULAR BUFFER WP FIFO USED AS CIRCULAR BUFFER THRESHOLD RP WP THRESHOLD THRESHOLD RP WP RP RATE INTERRUPT SNAPSHOT CAPTURED MAX MAX MAX (WP-RP) = LEVEL (WP-RP) = LEVEL (WP-RP) = LEVEL 0 THRESHOLD THRESHOLD 0 THRESHOLD 0 Figure 5. FIFO Snapshot Mode www.maximintegrated.com Maxim Integrated │  19 MAX21003 Bias Instability and Angular Random Walk Bias instability is a critical performance parameter for gyroscopes. The IC provides a typical bias instability of 4°/hour on each axis and an ARW of 0.45°/√hour, measured using the Allan Variance method. Data Synchronization The DSYNC pin enables a number of synchronization options. Wake-Up Feature Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope based on the software management performed by an external processor. The DSYNC-based wake-up, data capture, data mapping, and interrupt generation features can be combined together. Unique Serial Number Each IC is uniquely identified by 48 bits that can be used to track the history of the sample, including manufacturing, assembly, and testing information. The DSYNC pin can be used to wake-up the IC from the power-down or suspend mode. Repeatedly changing DSYNC from active to not active and vice-versa can be used to control the power mode of the MAX21003 using an external controlling device, be it a microprocessor, another sensor or a different kind of device. Revision ID DSYNC can be configured to active either High or Low and on either edge or level. This feature is controlled by a specific bit in the DSYNC_CFG register. Clocking Data Capture Feature Another way to use the DSYNC pin is as data capture trigger. The IC can be configured to stop generating data until a given edge occur on DSYNC. Once the programmed active edge occurs, the IC collects as many data as specified in the DSYNC_CNT register. DSYNC Mapping on Data DSYNC can also be optionally mapped onto the LSB of the sensor data to perform synchronization afterwards. The mapping occurs on every enabled axis of the gyroscope. This feature is controlled by a specific bit in the DSYNC_CFG register. DSYNC Interrupt Generation The DSYNC pin can also be used as an interrupt source to determine a different kind of data synchronization www.maximintegrated.com The IC has a register used to identify the revision ID of the device and to identify the specific part number. Even though different part numbers may share the same WHO_AM_I value, they would still be identified by means of different Revision ID values. The on-chip PLL locked to the gyroscope allows maintaining the ODR within 2.5%. Self-Test For digital gyroscopes, there are two dedicated bits in a control register to enable the self-test. This feature can be used to verify if the gyroscope is working properly without physically rotating the gyroscope. That may be used either before or after it is assembled on a PCB. If the gyroscope’s outputs are within the specified self-test values in the data sheet, then the gyroscope is working properly. Therefore, the self-test feature is an important consideration in a user’s end-product mass production line. The embedded self-test in Maxim’s 3-axis digital gyroscope is an additional key feature that allows the gyroscope to be tested during final product assembly without requiring physical device movement. Maxim Integrated │  20 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Register File The register file is organized per banks. On the common bank are mapped addresses from 0x20 to 0x3F and these registers are always available. It is possible to map on addresses 0x00 to 0x1F two different user banks by properly programming address 0x21. The purpose of this structure is to limit the management of the register map addresses in the 0x00 to 0x3F range even though the number of physical registers is in excess of 64. Common Bank The common is the bank whose locations are always available regardless the register bank selection. This bank contains all the registers most commonly used, including data registers and the FIFO data. Table 4. Common Bank REGISTER ADDRESS TYPE DEFAULT VALUE WHO_AM_I 0x20 R 1011 0001 Device ID BANK_SELECT 0x21 R/W 0000 0000 Register bank selection SYSTEM_STATUS 0x22 R 0000 0000 System Status register GYRO_X_H 0x23 R Data Bits [15:8] of X measurement GYRO_X_L 0x24 R Data Bits [07:0] of X measurement GYRO_Z_H 0x25 R Data Bits [15:8] of Z measurement GYRO_Z_L 0x26 R Data Bits [07:0] of Z measurement RFU 0x27 R RFU 0x28 R TEMP_H 0x29 R Data Bits [15:8] of T measurement Bits [07:8] of T measurement NAME TEMP_L 0x2A R Data RFU 0x2B R 0000 0000 RFU 0x2C R 0000 0000 RFU 0x2D R 0000 0000 RFU 0x2E R 0000 0000 RFU 0x2F R 0000 0000 RFU 0x30 R 0000 0000 RFU 0x31 R 0000 0000 RFU 0x32 R 0000 0000 RFU 0x33 R 0000 0000 RFU 0x34 R 0000 0000 RFU 0x35 R 0000 0000 RFU 0x36 R 0000 0000 RFU 0x37 R 0000 0000 RFU 0x38 R 0000 0000 RFU 0x39 R 0000 0000 COMMENT RFU 0x3A R 0000 0000 HP_RST 0x3B RW 0000 0000 Highpass filter reset FIFO_COUNT 0x3C R 0000 0000 Available FIFO samples for data set FIFO_STATUS 0x3D R 0000 0000 FIFO status flags FIFO_DATA 0x3E R Data PAR_RST 0x3F W and reset 0000 0000 www.maximintegrated.com FIFO data to be read in burst mode Parity reset (reset on write) Maxim Integrated │  21 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope User Bank 0 User bank 0 is the register used to configure most of the features of the IC, with the exception of the interrupts, which are part of the user bank 1. Table 5. User Bank 0 NAME REGISTER ADDRESS TYPE DEFAULT VALUE COMMENT POWER_CFG 0x00 RW 0000 0111 Power mode configuration SENSE_CFG1 0x01 RW 0010 1000 Sense configuration: LP and OIS SENSE_CFG2 0x02 RW 0010 0011 Sense configuration: ODR SENSE_CFG3 0x03 RW 0000 0000 Sense configuration: HP RFU 0x04 R 0000 0000 RFU 0x05 R 0000 0000 RFU 0x06 R 0000 0000 RFU 0x07 R 0000 0000 RFU 0x08 R 0000 0000 RFU 0x09 R 0000 0000 RFU 0x0A R 0000 0000 RFU 0x0B R 0000 0000 RFU 0x0C R 0000 0000 RFU 0x0D R 0000 0000 RFU 0x0E R 0000 0000 RFU 0x0F R 0000 0000 RFU 0x10 R 0000 0000 RFU 0x11 R 0000 0000 RFU 0x12 R 0000 0000 DR_CFG 0x13 RW 0000 0001 Data ready configuration IO_CFG 0x14 RW 0000 0000 Input/output configuration I2C_CFG 0x15 RW 0000 0100 I2C configuration ITF_OTP 0x16 RW 0000 0000 Interface and OTP configuration FIFO_TH 0x17 RW 0000 0000 FIFO threshold configuration FIFO_CFG 0x18 RW 0000 0000 FIFO mode configuration RFU 0x19 R 0000 0000 DSYNC_CFG 0x1A R 0000 0000 DATA_SYNC configuration DSYNC_CNT 0x1B R 0000 0000 DATA_SYNC counter RFU 0x1C R 0000 0000 RFU 0x1D R 0000 0000 RFU 0x1E R 0000 0000 RFU 0x1F R 0000 0000 www.maximintegrated.com Maxim Integrated │  22 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope User Bank 1 User Bank 1 is primarily devoted to the configuration of the interrupts. It also contains the unique serial number. Table 6. User Bank 1 REGISTER ADDRESS TYPE DEFAULT VALUE INT_REF_X 0x00 RW 0000 0000 Interrupt reference for X axis INT_REF_Z 0x01 RW 0000 0000 Interrupt reference for Z axis NAME COMMENT RFU 0x02 INT_DEB_X 0x03 RW 0000 0000 0000 0000 Interrupt debounce, X INT_DEB_Z 0x04 RW 0000 0000 Interrupt debounce, Z RFU 0x05 0000 0000 INT_MSK_X 0x06 RW 0000 0000 Interrupt mask, X axis zones INT_MSK_Z 0x07 RW 0000 0000 Interrupt mask, Z axis zones RFU 0x08 INT_MASK_AO 0x09 RW 0000 0000 Interrupt masks, AND/OR INT_CFG1 0x0A RW 0000 0000 Interrupt configuration 1 INT_CFG2 0x0B RW 0010 0100 Interrupt configuration 2 INT_TMO 0x0C RW 0000 0000 Interrupt timeout INT_STS_UL 0x0D R 0000 0000 Interrupt sources, unlatched INT1_STS 0x0E R 0000 0000 Interrupt 1 status, latched INT2_STS 0x0F R 0000 0000 Interrupt 2 status, latched INT1_MSK 0x10 RW 1000 0000 Interrupt 1 mask INT2_MSK 0x11 RW 0000 0010 Interrupt 2 mask RFU 0x12 R 0000 0000 RFU 0x13 R 0000 0000 0000 0000 RFU 0x14 R 0000 0000 RFU 0x15 R 0000 0000 RFU 0x16 R 0000 0000 RFU 0x17 R 0000 0000 RFU 0x18 R 0000 0000 RFU 0x19 R 0000 0000 SERIAL_0 0x1A R Variable Unique serial number, byte 0 SERIAL_1 0x1B R Variable Unique serial number, byte 1 SERIAL_2 0x1C R Variable Unique serial number, byte 2 SERIAL_3 0x1D R Variable Unique serial number, byte 3 SERIAL_4 0x1E R Variable Unique serial number, byte 4 SERIAL_5 0x1F R Variable Unique serial number, byte 5 www.maximintegrated.com Maxim Integrated │  23 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Orientation of Axes Depending on the specific application, add at least one bulk 1µF decoupling capacitor to VDD and VDDIO per PCB. For best performance, bring a VDD power line in on the analog interface side of the IC and an VDDIO power line from the digital interface side of the device. The diagram below shows the orientation of the axis of sensitivity and the polarity of rotation. Note the pin 1 identifier (U) in Figure 6. Soldering Information Table 7. Bill of Materials for External Components Visit www.maximintegrated.com/21000.related for soldering recommendations. Application Notes Bypass VDD and VDDIO to the ground plane with 0.1µF ceramic chip capacitors on each pin as close as possible to the IC to minimize parasitic inductance. COMPONENT LABEL SPECIFICATION QUANTITY VDD/VDDIO bypass capacitor C1 Ceramic, X7R, 0.1µF ±10%, 4V 1 VDD/VDDIO bypass capacitor C2 Ceramic, X7R, 1µF ±10%, 4V 1 ΩZ ΩX Figure 6. Orientation of Axis www.maximintegrated.com Maxim Integrated │  24 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Typical Application Circuit TIMER MEMS GYRO SENSE FILTERING A AFE SCL_CLK REGISTERS AND FIFO SDA_SDI_O SA0_SDO CS AP AFE A A AFE GYRO DRIVE CONTROL SYNC DSYNC INT1 INTERRUPTS RING OSCILLATOR MAX21003 SPI/I2C SLAVE VDD_IO VDD GND INT2 PMIC 100nF Ordering Information 1µF Package Information PART TEMP RANGE PIN-PACKAGE MAX21003+ -40°C to +85°C 16 LGA MAX21003+T -40°C to +85°C 16 LGA +Denotes lead(Pb)-free/RoHS-compliant package. For the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages. Note that a “+”, “#”, or “-” in the package code indicates RoHS status only. Package drawings may show a different suffix character, but the drawing pertains to the package regardless of RoHS status. T = Tape and reel. Chip Information PROCESS: BiCMOS www.maximintegrated.com Maxim Integrated │  25 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Package Information For the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages. Note that a “+”, “#”, or “-” in the package code indicates RoHS status only. Package drawings may show a different suffix character, but the drawing pertains to the package regardless of RoHS status. www.maximintegrated.com Maxim Integrated │  26 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Package Information (continued) For the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages. Note that a “+”, “#”, or “-” in the package code indicates RoHS status only. Package drawings may show a different suffix character, but the drawing pertains to the package regardless of RoHS status. www.maximintegrated.com Maxim Integrated │  27 MAX21003 Ultra-Accurate, Low Power, Dual-Axis Digital Output Gyroscope Revision History REVISION NUMBER REVISION DATE 0 6/13 DESCRIPTION Initial release PAGES CHANGED — For pricing, delivery, and ordering information, please contact Maxim Direct at 1-888-629-4642, or visit Maxim Integrated’s website at www.maximintegrated.com. Maxim Integrated cannot assume responsibility for use of any circuitry other than circuitry entirely embodied in a Maxim Integrated product. No circuit patent licenses are implied. Maxim Integrated reserves the right to change the circuitry and specifications without notice at any time. The parametric values (min and max limits) shown in the Electrical Characteristics table are guaranteed. Other parametric values quoted in this data sheet are provided for guidance. Maxim Integrated and the Maxim Integrated logo are trademarks of Maxim Integrated Products, Inc. © 2013 Maxim Integrated Products, Inc. │  28