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ADIS16489 Datasheet(PDF) 30 Page - Analog Devices |
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ADIS16489 Datasheet(HTML) 30 Page - Analog Devices |
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30 / 40 page  ADIS16489 Data Sheet Rev. B | Page 30 of 40 DECIMATION FILTER (DEC_RATE) Table 158. DEC_RATE Register Definitions Page Addresses Default Access Flash Backup 0x03 0x0C, 0x0D 0x0000 R/W Yes Table 159. DEC_RATE Bit Definitions Bits Description [15:11] Don’t care [10:0] Decimation rate, binary format, maximum = 2047, see Figure 33 for the impact on sample rate The DEC_RATE register (see Table 158 and Table 159) provides user control for the final filter stage (see Figure 33), which averages and decimates the accelerometers and gyroscopes data, while also extending the time that the delta angle and delta velocity track between each update. The output sample rate is equal to 2460/(DEC_RATE + 1). When using the external clock option (Bit 7 and Bits[5:4] of the FNCTIO_CTRL register, see Figure 33), replace the 2460 number in this relationship with the input clock frequency. For example, turn to Page 3 (DIN = 0x8003), and set DEC_RATE = 0x18 (DIN = 0x8C18, then DIN = 0x8D00) to reduce the output sample rate to 98.4 SPS (2460 ÷ 25). CONTINUOUS BIAS ESTIMATION (NULL_CNFG) Table 160. NULL_CNFG Register Definitions Page Addresses Default Access Flash Backup 0x03 0x0E, 0x0F 0x070A R/W Yes Table 161. NULL_CNFG Bit Definitions Bits Description [15:14] Not used. 13 Z-axis acceleration bias correction enable (1 = enabled). 12 Y-axis acceleration bias correction enable (1 = enabled). 11 X-axis acceleration bias correction enable (1 = enabled). 10 Z-axis gyroscope bias correction enable (1 = enabled). 9 Y-axis gyroscope bias correction enable (1 = enabled). 8 X-axis gyroscope bias correction enable (1 = enabled). [7:4] Not used. [3:0] Time base control (TBC), range is 0 to 13 (default = 10), time base (tB) = 2TBC/fS, where fS is the IMU sample rate before decimation and is 2460 SPS if the factory default internal clock is used. The total average time (tA) required for autonull = 64 × tB. The NULL_CNFG register (see Table 160 and Table 161) provides the configuration controls for the CBE, which associates with the bias correction update command in GLOB_CMD[0] (see Table 151). NULL_CNFG[3:0] establish the total average time (tA) for the bias estimates and NULL_ CNFG[13:8] provide on/off controls for each sensor. The factory default configuration for NULL_CNFG enables the bias null command for the gyroscopes, disables the bias null command for the accelerometers, and sets the average time to ~26.64 sec. This calculation assumes that the internal sample clock (fS = 2460 SPS) is used. If the user is supplying an external clock by setting Bit 7 of the FNCTIO_ CRTL register to 1 (see Table 152 and Table 153), fS is the IMU sample rate before decimation. When a sensor bit in NULL_CNFG is active (equal to 1), setting GLOB_CMD[0] = 1 (DIN sequence: 0x8003, 0x8201, 0x8300) causes its bias correction register to automatically update with a value that corrects for its present bias error (from the CBE). For example, setting NULL_CNFG[8] equal to 1 causes an update in the XG_BIAS_LOW (see Table 109) and XG_BIAS_HIGH (see Table 111) registers. MEMS SENSOR 330Hz ÷4 fs GYROSCOPE 2-POLE: 404Hz, 757Hz ACCELEROMETER 1-POLE: 330Hz 4× AVERAGE DECIMATION FILTER SELECTABLE FIR FILTER BANK FILTR_BNK_0 FILTR_BNK_1 AVERAGE/DECIMATION FILTER D = DEC_RATE, BITS[10:0] + 1 1 4 4 ÷D 1 D D FIR FILTER BANK fs INTERNAL ADC CLOCK 9.84kHz DIOx OPTIONAL INPUT CLOCK FNCTIO_CTRL, BIT 7 = 1 fs < 2400Hz NOTES 1. WHEN FNCTIO_CTRL, BIT 7 = 1, fs IS THE EXTERNAL INPUT CLOCK, AND EACH CLOCK PULSE ON THE DESIGNATED DIOx LINE 4× AVERAGE/DECIMATION FILTER, WHICH PRODUCES A DATA RATE THAT IS EQUAL TO THE INPUT CLOCK FREQUENCY. 2. WHEN FNCTIO_CTRL, BIT 7 = 0, fs IS THE INTERNALLY GENERATED 2.46 kHz SAMPLE CLOCK. (FNCTIO_CTRL, BITS[5:4]) STARTS A 4-SAMPLE BURST, AT A SAMPLE RATE OF 9.84 kHz. THESE FOUR SAMPLES FEED INTO THE Figure 33. Sampling and Frequency Response Signal Flow |
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