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ADIS16385 Datasheet(PDF) 15 Page - Analog Devices

Part # ADIS16385
Description  Six Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16385 Datasheet(HTML) 15 Page - Analog Devices

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Preliminary Technical Data
ADIS16385
Rev. PrA | Page 15 of 20
DIGITAL PROCESSING CONFIGURATION
Table 27. Digital Processing Registers
Register Name
Address
Description
SMPL_PRD
0x36
Sample rate control
SENS_AVG
0x38
Digital filtering and range control
Sample Rate
The internal sampling system produces new data in the output
data registers at a rate of 1024 SPS. The SMPL_PRD register in
Table 28 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 one. For example, set SMPL_PRD[12:8] = 0100
(DIN = 0xB704) to set the decimation factor to 16. This reduces
the update rate to 64 SPS and the bandwidth to 31 Hz.
Table 28. SMPL_PRD Bit Descriptions
Bits
Description (Default = 0x0001)
[15:13]
Not used
[12:8]
Average/decimation rate setting, binomial
[7:1]
Not used
[0]
Clock: 1 = internal (1024 SPS), 0 = external
Input Clock Configuration
SMPL_PRD[0] provides a control for synchronizing the internal
sampling to an external clock source. Set GPIO_CTRL[3] = 0
(DIN = 0x0B200) and SMPL_PRD[0] = 0 (DIN = 0xB600) to
enable the external clock. See Table 2 and Figure 4 for timing
information.
Digital Filtering
The SENS_AVG register in Table 29 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 18). For example, set SENS_AVG[2:0] = 100 (DIN = 0xB804)
to set each stage to 16 taps. When used with the default sample
rate of 1024 SPS and zero decimation (SMPL_PRD[12:8] = 00000),
this value reduces the sensor bandwidth to approximately 20 Hz.
0
–20
–40
–60
–80
–100
–120
–140
0.001
0.01
0.1
1
FREQUENCY (
f/fS)
N = 2
N = 4
N = 16
N = 64
Figure 17. Bartlett Window, FIR Filter Frequency Response
(Phase Delay = N 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 =
0xB902) 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 29. SENS_AVG Bit Descriptions
Bits
Description (Default = 0x0402)
[15:11]
Not used
[10:8]
Measurement range (sensitivity) selection
100 = ±300°/sec (default condition)
010 = ±150°/sec, filter taps ≥ 4 (Bits[2:0] ≥ 0x02)
001 = ±75°/sec, filter taps ≥ 16 (Bits[2:0] ≥ 0x04)
[7:3]
Not used
[2:0]
Number of taps in each stage; value of m in N = 2m
stage)
(per
taps
of
Number
2
0]
:
SENS_AVG[2
=
=
=
B
B
B
N
N
B
=
B
N
n
B
n
x
N
1
)
(
1
=
B
N
n
B
n
x
N
1
)
(
1
=
D
N
n
D
n
x
N
1
)
(
1
taps
of
Number
2
8]
:
2
SMPL_PRD[1
D
=
=
=
D
D
D
N
N
D
N
÷
Figure 18. Sampling and Frequency Response Block Diagram


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