ADIS16505-2SLASHPCBZ datasheet(33/41 Pages) AD

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Data Sheet

ADIS16505

Rev. C | Page 33 of 41

Filter Control Register (FILT_CTRL)

Table 101. FILT_CTRL Register Definition

Addresses

Default

Access

Flash Backup

0x5C, 0x5D

0x0000

R/W

Yes

Table 102. FILT_CTRL Bit Definitions

Bits

Description

[15:3]

Not used

[2:0]

Filter Size Variable B; number of taps in each stage; N = 2B,

where B = 0 to 6 (decimal). Changes to this register may

take up to 30 μs after writing to indicate the new value

during readback.

The FILT_CTRL register (see Table 101 and Table 102) provides

user controls for the Bartlett window FIR filter (see Figure 31),

which contains two cascaded averaging filters. For example, use

the following sequence to set Register FILT_CTRL, Bits[2:0] =

0100, which sets each stage to have 16 taps: 0xCC04 and 0xCD00.

Figure 58 provides the frequency response for several settings in

the FILT_CTRL register.

–20

–40

–60

–80

–100

–120

–140

0.001

0.01

0.1

FREQUENCY (

f/fS)

N = 2

N = 4

N = 16

N = 64

Figure 58. Bartlett Window, FIR Filter Frequency Response

(Phase Delay = N Samples)

Range Identifier (RANG_MDL)

Table 103. RANG_MDL Register Definition

Addresses

Default

Access

Flash Backup

0x5E, 0x5F

Not applicable

Table 104. RANG_MDL Bit Definitions

Bits

Description

[15:3]

Not used

[3:2]

Gyroscope measurement range

00 = ±125°/sec (ADIS16505-1BMLZ)

01 = ±500°/sec (ADIS16505-2BMLZ)

10 = reserved

11 = ±2000°/sec (ADIS16505-3BMLZ)

[1:0]

Reserved, binary value = 11

Miscellaneous Control Register (MSC_CTRL)

Table 105. MSC_CTRL Register Definition

Addresses

Default

Access

Flash Backup

0x60, 0x61

0x00C1

R/W

Yes

Table 106. MSC_CTRL Bit Definitions

Bits

Description

[15:10]

Not used

BURST32. 32-bit burst enable bit. The user must wait

until a full data ready cycle until the burst array

updates with the desired data type. Changes to this bit

may take up to 200 μs after writing to indicate the new

value during readback.

1 = 32-bit burst data.

0 = 16-bit burst data (default).

BURST_SEL. Burst read output array selection. This bit

controls what calibrated data is in a burst read.

Changes to this bit may take up to 200 μs after writing

to indicate the new value during readback.

1 = burst data has delta angle and delta velocity data.

0 = burst data has gyroscope and accelerometer data

(default).

Linear acceleration compensation for gyroscopes.

When enabled, factory calibrated linear acceleration

compensation data is applied to the gyroscope

outputs. Changes to this bit may take up to 200 μs after

writing to indicate the new value during readback.

1 = enabled.

0 = disabled (default).

Point of percussion alignment. When set, this bit allows

for relocation of the acceleration sensors to a common

point of percussion on the package corner by

considering angular rotations. Changes to this bit may

take up to 200 μs after writing to indicate the new

value during readback.

1 = enabled.

0 = disabled (default).

Not used. Always set to 0.

SENS_BW. Internal sensor bandwidth. Changing this

bit reinitializes the sensors, and the user must wait

until the DR pin starts toggling after changing this bit.

This operation may require up to 250 ms to complete.

0 = wide bandwidth (default), see Table 1.

1 = 370 Hz. The gyroscope group delay increases by

0.17 ms and the accelerometer group delay increases

by 0.63 ms in this mode.

[3:2]

SYNC mode select (see the Clock Control section for

more information). The user must wait until the DR pin

starts toggling after changing these bits and/or the

UP_SCALE register in order to correctly read back the

new values. However, the user can write these registers

in succession before waiting for the DR pin to resume

toggling.

00 = internal SYNC (default). Internal 2 kHz clock used.

01 = direct input sync mode. The user provides an

external input clock between 1900 Hz and 2100 Hz.

10 = scaled sync mode. The user provides an external

input clock between 1 Hz and 128 Hz, which upscales

to 1900 Hz to 2100 Hz inside the ADIS16505.

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