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ADIS16488 Datasheet(PDF) 21 Page - Analog Devices

Part # ADIS16488
Description  Ten Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16488 Datasheet(HTML) 21 Page - Analog Devices

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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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