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ADIS16488 Datasheet(PDF) 21 Page - Analog Devices |
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ADIS16488 Datasheet(HTML) 21 Page - Analog Devices |
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21 / 36 page  Data Sheet ADIS16488 Rev. B | Page 21 of 36 FIR FILTER BANKS The ADIS16488 provides four configurable, 120-tap FIR filter banks. Each coefficient is 16 bits wide and occupies its own register location with each page. When designing a FIR filter for these banks, use a sample rate of 2.46 kHz and scale the coefficients so that their sum equals 32,768. For filter designs that have less than 120 taps, load the coefficients into the lower portion of the filter and start with Coefficient 1. Make sure that all unused taps are equal to zero, so that they do not add phase delay to the response. The FILTR_BNK_x registers provide three bits per sensor, which configure the filter bank (A, B, C, D) and turn filtering on and off. For example, turn to Page 3 (DIN = 0x8003), then write 0x0057 to FILTR_BNK_0 (DIN = 0x9657, DIN = 0x9700) to set the x-axis gyroscope to use the FIR filter in Bank D, to set the y-axis gyroscope to use the FIR filter in Bank B, and to enable these FIR filters in both x- and y-axis gyroscopes. Note that the filter settings update after writing to the upper byte; therefore, always configure the lower byte first. In cases that require configuration to only the lower byte of either FILTR_BNK_0 or FILTR_BNK_1, complete the process by writing 0x00 to the upper byte. Table 57. FILTR_BNK_0 (Page 3, Base Address = 0x16) Bits Description (Default = 0x0000) 15 Don’t care 14 Y-axis accelerometer filter enable (1 = enabled) [13:12] Y-axis accelerometer filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 11 X-axis accelerometer filter enable (1 = enabled) [10:9] X-axis accelerometer filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 8 Z-axis gyroscope filter enable (1 = enabled) [7:6] Z-axis gyroscope filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 5 Y-axis gyroscope filter enable (1 = enabled) [4:3] Y-axis gyroscope filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 2 X-axis gyroscope filter enable (1 = enabled) [1:0] X-axis gyroscope filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D Table 58. FILTR_BNK_1 (Page 3, Base Address = 0x18) Bits Description (Default = 0x0000) [15:12] Don’t care 11 Z-axis magnetometer filter enable (1 = enabled) [10:9] Z-axis magnetometer filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 8 Y-axis magnetometer filter enable (1 = enabled) [7:6] Y-axis magnetometer filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 5 X-axis magnetometer filter enable (1 = enabled) [4:3] X-axis magnetometer filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 2 Z-axis accelerometer filter enable (1 = enabled) [1:0] Z-axis accelerometer filter bank selection: 00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D Filter Memory Organization Each filter bank uses two pages of the user register structure. See Table 59, Table 60, Table 61, and Table 62 for the register addresses in each filter bank. Table 59. Filter Bank A Memory Map Page PAGE_ID Address Register 5 0x05 0x00 PAGE_ID 5 0x05 0x02 to 0x07 Not used 5 0x05 0x08 FIR_COEF_A000 5 0x05 0x0A FIR_COEF_A001 5 0x05 0x0C to 0x7C FIR_COEF_A002 to FIR_COEF_A058 5 0x05 0x7E FIR_COEF_A059 6 0x06 0x00 PAGE_ID 6 0x06 0x02 to 0x07 Not used 6 0x06 0x08 FIR_COEF_A060 6 0x06 0x0A FIR_COEF_A061 6 0x06 0x0C to 0x7C FIR_COEF_A062 to FIR_COEF_A118 6 0x06 0x7E FIR_COEF_D119 Table 60. Filter Bank B Memory Map Page PAGE_ID Address Register 7 0x07 0x00 PAGE_ID 7 0x07 0x02 to 0x07 Not used 7 0x07 0x08 FIR_COEF_B000 7 0x07 0x0A FIR_COEF_B001 7 0x07 0x0C to 0x7C FIR_COEF_B002 to FIR_COEF_B058 7 0x07 0x7E FIR_COEF_B059 8 0x08 0x00 PAGE_ID 8 0x08 0x02 to 0x07 Not used 8 0x08 0x08 FIR_COEF_B060 8 0x08 0x0A FIR_COEF_B061 8 0x08 0x0C to 0x7C FIR_COEF_B062 to FIR_COEF_B118 8 0x08 0x7E FIR_COEF_B119 Table 61. Filter Bank C Memory Map Page PAGE_ID Address Register 9 0x09 0x00 PAGE_ID 9 0x09 0x02 to 0x07 Not used 9 0x09 0x08 FIR_COEF_C000 9 0x09 0x0A FIR_COEF_C001 9 0x09 0x0C to 0x7C FIR_COEF_C002 to FIR_COEF_C058 9 0x09 0x7E FIR_COEF_C059 10 0x0A 0x00 PAGE_ID 10 0x0A 0x02 to 0x07 Not used 10 0x0A 0x08 FIR_COEF_C060 10 0x0A 0x0A FIR_COEF_C061 10 0x0A 0x0C to 0x7C FIR_COEF_C062 to FIR_COEF_C118 10 0x0A 0x7E FIR_COEF_C119 |
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