Tactical Grade, Six Degrees of Freedom Inertial Sensor Data Sheet ADIS16497 FEATURES GENERAL DESCRIPTION Triaxial, digital gyroscope The ADIS16497 is a complete inertial system that includes a 125/sec, 450/sec, 2000/sec range options triaxis gyroscope and a triaxis accelerometer. Each inertial sensor 0.05 axis to axis misalignment error in the ADIS16497 combines industry leading iMEMS technology 0.25 (maximum) axis to package misalignment error with signal conditioning that optimizes dynamic performance. 0.8/hr in-run bias stability (ADIS16497-1) The factory calibration characterizes each sensor for sensitivity, 0.09/hr angular random walk (ADIS16497-1) bias, alignment, and linear acceleration (gyroscope bias). As a Triaxial, digital accelerometer, 40 g result, each sensor has its own dynamic compensation formulas that 13 g in run bias stability provide accurate sensor measurements. Triaxial, delta angle and delta velocity outputs The ADIS16497 provides a simple, cost effective method for Factory calibrated sensitivity, bias, and axial alignment integrating accurate, multiaxis inertial sensing into industrial Calibration temperature range: 40C to +85C systems, especially when compared with the complexity and SPI compatible investment associated with discrete designs. All necessary motion Programmable operation and control testing and calibration are part of the production process at Automatic and manual bias correction controls the factory, greatly reducing system integration time. Tight Configurable FIR filters orthogonal alignment simplifies inertial frame alignment in Digital I/O: data ready, external clock navigation systems. The serial peripheral interface (SPI) and Sample clock options: internal, external, or scaled register structure provide a simple interface for data collection On demand self test of inertial sensors and configuration control. Single-supply operation: 3.0 V to 3.6 V The footprint and connector system of the ADIS16497 enable a 1500 g mechanical shock survivability simple upgrade from the ADIS16375, ADIS16480, ADIS16485, Operating temperature range: 40C to +105C ADIS16488A, and ADIS16490. The ADIS16497 is available in an APPLICATIONS aluminum package that is approximately 47 mm 44 mm Precision instrumentation, stabilization 14 mm and includes a standard connector interface. Guidance, navigation, control Avionics, unmanned vehicles Precision autonomous machines, robotics FUNCTIONAL BLOCK DIAGRAM DIO1 DIO2 DIO3 DIO4 RST VDD POWER SELF TEST I/O GND MANAGEMENT OUTPUT CS TRIAXIAL DATA GYROSCOPE REGISTERS SCLK CALIBRATION TRIAXIAL CONTROLLER SPI AND ACCELEROMETER FILTERS DIN USER CONTROL TEMPERATURE REGISTERS DOUT SENSOR CLOCK ADIS16497 Figure 1. Rev. D Document Feedback Information furnished by Analog Devices is believed to be accurate and reliable. However, no responsibility is assumed by Analog Devices for its use, nor for any infringements of patents or other One Technology Way, P.O. Box 9106, Norwood, MA 02062-9106, U.S.A. rights of third parties that may result from its use. Specifications subject to change without notice. Tel: 781.329.4700 2017-2020 Analog Devices, Inc. All rights reserved. No license is granted by implication or otherwise under any patent or patent rights of Analog Devices. Trademarks and registered trademarks are the property of their respective owners. Technical Support www.analog.com 15061-001ADIS16497 Data Sheet TABLE OF CONTENTS Features .............................................................................................. 1 Cyclical Redundancy Check (CRC-32) ................................... 25 Applications ...................................................................................... 1 Delta Angles ................................................................................ 26 General Description ......................................................................... 1 Delta Velocity ............................................................................. 27 Functional Block Diagram .............................................................. 1 User Bias/Scale Adjustment ...................................................... 29 Revision History ............................................................................... 2 Scratch Registers, USER SCR x .............................................. 32 Specifications .................................................................................... 4 Flash Memory Endurance Counter, FLSHCNT LOW, FLSHCNT HIGH ...................................................................... 32 Timing Specifications .................................................................. 6 Global Commands, GLOB CMD ........................................... 33 Absolute Maximum Ratings ........................................................... 9 Auxiliary I/O Line Configuration, FNCTIO CTRL ............. 34 Thermal Resistance ...................................................................... 9 General-Purpose I/O Control, GPIO CTRL ......................... 35 ESD Caution.................................................................................. 9 Miscellaneous Configuration, CONFIG ................................. 35 Pin Configuration and Function Descriptions .......................... 10 Linear Acceleration on Effect on Gyroscope Bias ................. 35 Typical Performance Characteristics ........................................... 11 Decimation Filter, DEC RATE ............................................... 35 Theory of Operation ...................................................................... 13 Continuous Bias Estimation (CBE), NULL CNFG .............. 36 Inertial Sensor Signal Chain ..................................................... 13 Scaling the Input Clock (PPS Mode), SYNC SCALE........... 36 Register Structure ....................................................................... 14 FIR Filters .................................................................................... 37 Serial Peripheral Interface ......................................................... 15 Firmware Revision, FIRM REV .............................................. 39 Data Ready .................................................................................. 15 Firmware Revision Year, FIRM Y .......................................... 39 Reading Sensor Data .................................................................. 16 Boot Revision Number, BOOT REV ...................................... 39 Device Configuration ................................................................ 17 Continuous SRAM Testing ....................................................... 39 User Register Memory Map .......................................................... 18 Applications Information ............................................................. 41 User Register Defintions ............................................................... 21 Mounting Best Practices ........................................................... 41 Page Number (PAGE ID) ........................................................ 21 Preventing Misinsertion ............................................................ 41 Data/Sample Counter (DATA CNT) ..................................... 21 Evaluation Tools ......................................................................... 41 Status/Error Flag Indicators (SYS E FLAG) ......................... 21 Power Supply Considerations .................................................. 41 Self Test Error Flags (DIAG STS) ........................................... 22 CRC32 Coding Example ........................................................... 42 Internal Temperature (TEMP OUT) ..................................... 22 Outline Dimensions ....................................................................... 43 Gyroscope Data .......................................................................... 22 Ordering Guide .......................................................................... 43 Acceleration Data ....................................................................... 24 Time Stamp ................................................................................. 25 REVISION HISTORY 7/2020Rev. C to Rev. D 1/2020Rev. B to Rev. C Changes to Table 1 ........................................................................... 5 Changes to Accelerometers, Sensitivity Parameter, Table 1 ....... 1 Changes to Table 2 ........................................................................... 6 Changes to Flash Memory Update Section and On Demand Self 6/2019Rev. A to Rev. B Test (ODST) Section ...................................................................... 33 Changes to Features Section ............................................................ 1 Changes to Data Ready Indicator Section .................................. 34 Changes to Specifications Section and Table 1 ............................. 4 Changes to Scaling the Input Clock (PPS Mode), Changes to Figure 5 and Figure 6 ................................................... 7 SYNC SCALE ................................................................................. 36 Changes to Table 6 ............................................................................ 9 Changes to Figure 12 ..................................................................... 10 Rev. D Page 2 of 43