ADIS16501SLASHPCBZ datasheet(20/45 Pages) AD

20 / 45 page

Data Sheet

ADIS16501

THEORY OF OPERATION

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Rev. B | 20 of 45

All of the correction factors in this relationship come from direct

observation of the response of each gyroscope at multiple tempera-

tures over the calibration temperature range (−40°C ≤ TA ≤ +85°C).

These correction factors are stored in the flash memory bank,

but they are not available for observation or configuration.

The MSC_CTRL register, Bit 7 (see Table 107) provides the on-

ly user-configurable option for the factory calibration of the gyro-

scopes: an on/off control for the linear acceleration compensation.

See Figure 56 for more details on the user calibration options

available for the gyroscopes.

The factory calibration of the accelerometer applies the following

correction formulas to the data of each accelerometer:

aXCaYCaZC =m11m12m13

m21m22m23

m31m32m33 ×

aXaYaZ+bXbYbZ +

0 p12p13

p21 0 p23

p31p32 0 +

ω2XCω2YCω2

where:

aXC, aYC, and aZC are the accelerometer outputs (post calibration).

m11, m12, m13, m21, m22, m23, m31, m32, and m33 provide scale and

alignment correction.

aX, aY, and aZ are the accelerometer outputs (precalibration).

bX, bY, and bZ provide bias correction.

p12, p13, p21, p23, p31 and p32 provide a point of percussion align-

ment correction (see Figure 59).

ω2XC, ω2YC, and ω2ZC are the square of the gyroscope outputs

(post calibration).

All of the correction factors in this relationship come from direct

observation of the response of each accelerometer at multiple

temperatures, over the calibration temperature range (−40°C ≤ TA

≤ +85°C). These correction factors are stored in the flash memory

bank, but they are not available for observation or configuration.

The MSC_CTRL register, Bit 6 (see Table 107) provides the only

user configuration option for the factory calibration of the acceler-

ometers: an on/off control for the point of percussion, alignment

function. See Figure 57 for more details on the user calibration

options available for the accelerometers.

DECIMATION FILTER

The second digital filter averages multiple samples together to pro-

duce each register update. The number of samples in the average

is equal to the reduction in the update rate (fODR) for the output data

registers (see Figure 33). The DEC_RATE register (see Table 111)

provides the configuration controls for this filter.

Figure 33. Decimating Filter Diagram

All communication between the ADIS16501 and an external pro-

cessor involves either reading the contents of an output register or

writing configuration/command information to a control register. The

output data registers include the latest sensor data, error flags, and

identification information. The control registers include sample rate,

filtering, calibration, and diagnostic options. Each user accessible

unique address. See Table 10 for a detailed list of all user registers,

along with their addresses.

SPI

The SPI provides access to the user registers (see Table 10).

Figure 34 shows the most common connections between the

ADIS16501 and an SPI main device, which is often an embedded

processor that has an SPI-compatible interface. In this example, the

SPI main uses an interrupt service routine to collect data every time

the data ready (DR) signal pulses.

Additional information on the SPI can be found in the Applications

Information section.

Figure 34. Electrical Connection Diagram

33 Ω termination resistors are recommended to improve SPI over-

shoot during communication. The CS, SCLK, and MOSI resistors

must be placed close to the system processor SPI main. The MISO

and IRQ resistors must be placed close to the ADIS16501.

Table 6 provides an example list of pin names for the SPI port in an

embedded processor.

Table 6. Generic SPI Main Pin Names and Functions

Mnemonic

Function

Subordinate select

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