ADIS16488A

Tactical Grade,
Ten Degrees of Freedom Inertial Sensor

Data Sheet ADIS16488A
FEATURES GENERAL DESCRIPTION
Triaxial, digital gyroscope, ±450°/sec dynamic range The ADIS16488A iSensor® device is a complete inertial system
±0.05° orthogonal alignment error that includes a triaxis gyroscope, a triaxis accelerometer, triaxis
5.1°/hr in-run bias stability magnetometer, and pressure sensor. Each inertial sensor in the
0.26°/√hr angular random walk ADIS16488A combines industry-leading iMEMS® technology
0.01% nonlinearity with signal conditioning that optimizes dynamic performance.
Triaxial, digital accelerometer, ±18 g The factory calibration characterizes each sensor for sensitivity,
Triaxial, delta angle and delta velocity outputs bias, alignment, and linear acceleration (gyroscope bias). As a
Triaxial, digital magnetometer, ±2.5 gauss result, each sensor has its own dynamic compensation formulas that
Digital pressure sensor, 300 mbar to 1100 mbar provide accurate sensor measurements.
Fast start-up time, ~500 ms
The ADIS16488A provides a simple, cost-effective method for
Factory-calibrated sensitivity, bias, and axial alignment
integrating accurate, multiaxis inertial sensing into industrial
Calibration temperature range: −40°C to +85°C
systems, especially when compared with the complexity and
SPI-compatible serial interface
investment associated with discrete designs. All necessary motion
Embedded temperature sensor
testing and calibration are part of the production process at the
Programmable operation and control
factory, greatly reducing system integration time. Tight orthogonal
Automatic and manual bias correction controls
alignment simplifies inertial frame alignment in navigation systems.
4 FIR filter banks, 120 configurable taps
The SPI and register structure provide a simple interface for
Digital input/output: data-ready alarm indicator,
data collection and configuration control.
external clock
Alarms for condition monitoring The ADIS16488A uses the same footprint and connector system as
Power-down/sleep mode for power management the ADIS16375, ADIS16480, and ADIS16485, which greatly
Optional external sample clock input: up to 2.4 kHz simplifies the upgrade process. The ADIS16488A is packaged in
Single command self test a module that is approximately 47 mm × 44 mm × 14 mm and
Single-supply operation: 3.0 V to 3.6 V includes a standard connector interface.
2000 g shock survivability
Operating temperature range: −55°C to +105°C (CML)
APPLICATIONS
Platform stabilization and control
Navigation
Personnel tracking
Instrumentation
Robotics
FUNCTIONAL BLOCK DIAGRAM
DIO1 DIO2 DIO3 DIO4 RST VDD
POWER
SELF TEST I/O ALARMS MANAGEMENT GND
TRIAXIAL
GYRO
OUTPUT CS
TRIAXIAL DATA
ACCEL REGISTERS
SCLK
CALIBRATION
TRIAXIAL CONTROLLER AND SPI
MAGN FILTERS DIN
USER
PRESSURE CONTROL
REGISTERS DOUT
TEMP CLOCK
VDD ADIS16488A
11855-001
VDDRTC
Figure 1.
Rev. F Document Feedback
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ADIS16488A Data Sheet
TABLE OF CONTENTS
Features .............................................................................................. 1 Firmware Revision ..................................................................... 20
Applications ....................................................................................... 1 Product Identification................................................................ 21
General Description ......................................................................... 1 Digital Signal Processing ............................................................... 22
Functional Block Diagram .............................................................. 1 Gyroscopes/Accelerometers ..................................................... 22
Revision History ............................................................................... 3 Averaging/Decimation Filter .................................................... 22
Specifications..................................................................................... 4 Magnetometer/Barometer......................................................... 22
Timing Specifications .................................................................. 6 FIR Filter Banks .......................................................................... 23
Absolute Maximum Ratings ............................................................ 8 Calibration ....................................................................................... 25
Thermal Resistance ...................................................................... 8 Gyroscopes .................................................................................. 25
ESD Caution .................................................................................. 8 Accelerometers ........................................................................... 26
Pin Configuration and Function Descriptions ............................. 9 Magnetometers ........................................................................... 26
Typical Performance Characteristics ........................................... 10 Barometers .................................................................................. 28
Theory of Operation ...................................................................... 11 Restoring Factory Calibration .................................................. 28
Register Structure ....................................................................... 11 Point of Percussion Alignment ................................................. 28
SPI Communication ................................................................... 11 Alarms .............................................................................................. 29
Device Configuration ................................................................ 12 Static Alarm Use ......................................................................... 29
Reading Sensor Data .................................................................. 12 Dynamic Alarm Use .................................................................. 30
User Registers .................................................................................. 13 System Controls .............................................................................. 31
Output Data Registers .................................................................... 16 Global Commands ..................................................................... 31
Inertial Sensor Data Format...................................................... 16 Memory Management ............................................................... 31
Rotation Rate (Gyroscope) ........................................................ 16 General-Purpose Input/Output................................................ 31
Acceleration................................................................................. 17 Power Management.................................................................... 32
Delta Angles ................................................................................ 17 Applications Information .............................................................. 34
Delta Velocity .............................................................................. 18 Mounting Best Practices ............................................................ 34
Magnetometers ........................................................................... 18 Evaluation Tools ......................................................................... 35
Barometer .................................................................................... 19 Power Supply Considerations ................................................... 35
Internal Temperature ................................................................. 19 Outline Dimensions ....................................................................... 36
Status/Alarm Indicators ............................................................. 19 Ordering Guide .......................................................................... 36
Rev. F | Page 2 of 36
REVISION HISTORY
11/2018—Rev. E to Rev. F Changes to Table 82, Table 83, and Table 84 ............................... 25
Added Note 3 to Table 1; Renumbered Sequentially .................... 5
Added X-Ray Sensitivity Section ..................................................35 2/2015—Rev. A to Rev. B
Change to Features Section .............................................................. 1
9/2017—Rev. D to Rev. E Changes to t2 Parameter, Table 2, and Figure 2 ............................. 5
Changes to Logic Inputs Parameter, Table 1.................................. 5 Added Table 3; Renumbered Sequentially ..................................... 5
Added Endnote 6, Table 1; Renumbered Sequentially ................. 5 Changes to Figure 4 .......................................................................... 6
Changed PC-Based Evaluation, EVAL-ADIS Section Title to Change to Dual Memory Structure Section ................................ 11
PC-Based Evaluation, EVAL-ADIS2 Section Title .....................35 Change to Table 72, Table 73, and Table 74 ................................. 24
Changes to PC-Based Evaluation, EVAL-ADIS2 Section ..........35 Change to Table 82, Table 83, and Table 84 ................................. 25
11/2016—Rev. C to Rev. D 5/2014—Rev. 0 to Rev. A

Changes to Figure 29 and Figure 30 .............................................34 Changes to Table 71, Table 72, and Table 73 ............................... 23
Change to Ordering Guide ............................................................35 Changes to Table 81, Table 82, and Table 83 ............................... 24
8/2015—Rev. B to Rev. C 1/2014—Revision 0: Initial Version

Changes to Table 72, Table 73, and Table 74 ...............................24
SPECIFICATIONS
TC = 25°C, VDD = 3.3 V, angular rate = 0°/sec, dynamic range = ±450°/sec ± 1 g, 300 mbar to 1100 mbar, unless otherwise noted.
Table 1.
Parameter Test Conditions/Comments Min Typ Max Unit
GYROSCOPES
Dynamic Range ±450 ±480 °/sec
Sensitivity x_GYRO_OUT and x_GYRO_LOW (32-bit) 3.052 × 10−7 °/sec/LSB
Repeatability1 −40°C ≤ TC ≤ +85°C ±1 %
Sensitivity Temperature Coefficient −40°C ≤ TC ≤ +85°C, 1 σ ±35 ppm/°C
Misalignment Axis to axis ±0.05 Degrees
Axis to frame (package) ±1.0 Degrees
Nonlinearity Best fit straight line, FS = 450°/sec 0.01 % of FS
Bias Repeatability1, 2 −40°C ≤ TC ≤ +85°C, 1 σ ±0.2 °/sec
In-Run Bias Stability 1σ 5.1 °/hr
Angular Random Walk 1σ 0.26 °/√hr
Bias Temperature Coefficient −40°C ≤ TC ≤ +85°C, 1 σ ±0.0025 °/sec/°C
Linear Acceleration Effect on Bias Any axis, 1 σ (CONFIG[7] = 1) 0.009 °/sec/g
Output Noise No filtering 0.135 °/sec rms
Rate Noise Density f = 10 Hz to 40 Hz, no filtering 0.0059 °/sec/√Hz rms
3 dB Bandwidth 330 Hz
Sensor Resonant Frequency 18 kHz
ACCELEROMETERS Each axis
Dynamic Range ±18 g
Sensitivity x_ACCL_OUT and x_ACCL_LOW (32-bit) 1.221 × 10−8 g/LSB
Repeatability1 −40°C ≤ TC ≤ +85°C ±0.5 %
Sensitivity Temperature Coefficient −40°C ≤ TC ≤ +85°C, 1 σ ±25 ppm/°C
Misalignment Axis to axis ±0.035 Degrees
Axis to frame (package) ±1.0 Degrees
Nonlinearity Best fit straight line, ±10 g 0.1 % of FS
Best fit straight line, ±18 g 0.5 % of FS
Bias Repeatability1, 2, 3 −40°C ≤ TC ≤ +85°C, 1 σ ±16 mg
In-Run Bias Stability 1σ 0.07 mg
Velocity Random Walk 1σ 0.029 m/sec/√hr
Bias Temperature Coefficient −40°C ≤ TC ≤ +85°C ±0.1 mg/°C
Output Noise No filtering 1.29 mg rms
Noise Density f = 10 Hz to 40 Hz, no filtering 0.063 mg/√Hz rms
Sensor Resonant Frequency 5.5 kHz
MAGNETOMETER
Dynamic Range ±2.5 gauss
Sensitivity 0.1 mgauss/LSB
Initial Sensitivity Tolerance ±2 %
Sensitivity Temperature Coefficient ADIS16488BMLZ, −40°C ≤ TC ≤ +85°C, 1 σ 275 ppm/°C
ADIS16488CMLZ, −40°C ≤ TC ≤ +85°C, 1 σ 60 ppm/°C
Misalignment Axis to axis 0.35 Degrees
Axis to frame (package) 1.0 Degrees
Nonlinearity Best fit straight line 0.5 % of FS
Initial Bias Error 0 gauss stimulus ±15 mgauss
Bias Temperature Coefficient ADIS16488BMLZ, −40°C ≤ TC ≤ +85°C, 1 σ 0.3 mgauss/°C
ADIS16488CMLZ, −40°C ≤ TC ≤ +85°C, 1 σ 0.03 mgauss/°C
Output Noise No filtering 0.22 mgauss rms
Noise Density f = 2 Hz to 5 Hz, no filtering 0.042 mgauss/√Hz
BAROMETER
Pressure Range 300 1100 mbar
Extended 10 1200 mbar
Sensitivity BAROM_OUT and BAROM_LOW (32-bit) 6.1 × 10−7 mbar/LSB
Error with Supply 0.04 %/V
Parameter Test Conditions/Comments Min Typ Max Unit
Total Error 4.5 mbar
Relative Error4 −40°C ≤ TC ≤ +85°C 2.5 mbar
Nonlinearity5 Best fit straight line, FS = 1100 mbar 0.1 % of FS
−40°C ≤ TC ≤ +85°C 0.2 % of FS
Linear-g Sensitivity ±1 g, 1 σ 0.005 mbar/g
Noise 0.025 mbar rms
TEMPERATURE SENSOR
Scale Factor Output = 0x0000 at 25°C (±5°C) 0.00565 °C/LSB
LOGIC INPUTS6
Input High Voltage, VIH 2.0 V
Input Low Voltage, VIL 0.8 V
CS Wake-Up Pulse Width 20 µs
Logic 1 Input Current, IIH VIH = 3.3 V 10 µA
Logic 0 Input Current, IIL VIL = 0 V
All Pins Except RST and CS 10 µA
RST and CS Pins7 0.33 mA
Input Capacitance, CIN 10 pF
DIGITAL OUTPUTS
Output High Voltage, VOH ISOURCE = 0.5 mA 2.4 V
Output Low Voltage, VOL ISINK = 2.0 mA 0.4 V
FLASH MEMORY Endurance8 100,000 Cycles
Data Retention9 TJ = 85°C 20 Years
FUNCTIONAL TIMES10 Time until data is available
Power-On Start-Up Time 500 ms
Reset Recovery Time11 500 ms
Sleep Mode Recovery Time 500 µs
Flash Memory
Update Time 375 ms
Test Time 50 ms
Automatic Self Test Time Using internal clock, 100 SPS 12 ms
CONVERSION RATE 2.46 kSPS
Initial Clock Accuracy 0.02 %
Temperature Coefficient 40 ppm/°C
Sync Input Clock 0.712 2.4 kHz
POWER SUPPLY, VDD Operating voltage range 3.0 3.6 V
Power Supply Current13 Normal mode, VDD = 3.3 V, µ ± σ 245 mA
Sleep mode, VDD = 3.3 V 12.2 mA
Power-down mode, VDD = 3.3 V 45 µA
POWER SUPPLY, VDDRTC Operating voltage range 3.0 3.6 V
Real-Time Clock Supply Current Normal mode, VDDRTC = 3.3 V 13 µA
1
The repeatability specifications represent analytical projections based on the following drift contributions and conditions: temperature hysteresis (−40°C to +85°C), electronics
drift (high temperature operating life test: +110°C, 500 hours), drift from temperature cycling (JESD22, Method A104-C, Method N, 500 cycles, −55°C to +85°C), rate random walk
(10-year projection), and broadband noise.
2
Bias repeatability describes a long-term behavior over a variety of conditions. Short-term repeatability relates to the in-run bias stability and noise density specifications.
3
X-ray exposure can degrade this performance metric.
4
The relative error assumes that the initial error, at 25°C, is corrected in the end application.
5
Specification assumes a full scale (FS) of 1000 mbar.
6
The digital input/output signals use a 3.3 V system.
7 RST
and CS pins are connected to the VDD pin through 10 kΩ pull-up resistors.
8
Endurance is qualified as per JEDEC Standard 22, Method A117, measured at −40°C, +25°C, +85°C, and +125°C.
9
The data retention specification assumes a junction temperature (TJ) of 85°C per JEDEC Standard 22, Method A117. Data retention lifetime decreases with TJ.
10
These times do not include thermal settling and internal filter response times, which may affect overall accuracy.
11
The RST line must be in a low state for at least 10 μs to assure a proper reset initiation and recovery.
12
Device functions at clock rates below 0.7 kHz, but at reduced performance levels.
13
Supply current transients can reach 600 mA during initial start up or reset recovery.
TIMING SPECIFICATIONS
TC = 25°C, VDD = 3.3 V, unless otherwise noted.
Table 2.
Normal Mode
Parameter Description Min1 Typ Max1 Unit
fSCLK Serial clock 0.01 15 MHz
tSTALL2 Stall period between data 2 µs
tCLS Serial clock low period 31 ns
tCHS Serial clock high period 31 ns
tCS Chip select to clock edge 32 ns
tDAV DOUT valid after SCLK edge 10 ns
tDSU DIN setup time before SCLK rising edge 2 ns
tDHD DIN hold time after SCLK rising edge 2 ns
tDR, tDF DOUT rise/fall times, ≤100 pF loading 3 8 ns
tDSOE CS assertion to data out active 0 11 ns
tHD SCLK edge to data out invalid 0 ns
tSFS Last SCLK edge to CS deassertion 32 ns
tDSHI CS deassertion to data out high impedance 0 9 ns
t1 Input sync pulse width 5 µs
t2 Input sync to data invalid 490 µs
t3 Input sync period 417 µs
1
Guaranteed by design and characterization, but not tested in production.
2
See Table 3 for exceptions to the stall time rating.
Table 3. Register Specific Stall Times

Register Function Minimum Stall Time (μs)
FNCTIO_CTRL Configure DIOx functions 15
FLTR_BNK0 Enable/select FIR filter banks 10
FLTR_BNK1 Enable/select FIR filter banks 10
NULL_CFG Configure autonull bias function 10
GLOB_CMD[1] Self-test 12,000
GLOB_CMD[2] Flash memory test 50,000
GLOB_CMD[3] Flash memory update 375,000
GLOB_CMD[6] Factory calibration restore 75,000
GLOB_CMD[7] Software reset 120,000
Timing Diagrams
CS
tCS tCHS tCLS

tSFS
1 2 3 4 5 6 15 16
SCLK
tDSOE tDAV tHD tDR tDSHI
DOUT MSB DB14 DB13 DB12 DB11 DB10 DB2 DB1 LSB
tDSU tDHD tDF
11855-002
DIN R/W A6 A5 A4 A3 A2 D2 D1 LSB
Figure 2. SPI Timing and Sequence

tSTALL
CS
11855-003
SCLK
Figure 3. Stall Time and Data Rate

t2
t3
t1
SYNC
CLOCK (CLKIN)
DATA
READY
11855-004
OUTPUT DATA VALID DATA VALID
REGISTERS
Figure 4. Input Clock Timing Diagram
ABSOLUTE MAXIMUM RATINGS

Table 4. THERMAL RESISTANCE
Parameter Rating Table 5. Package Characteristics
Acceleration Device
Any Axis, Unpowered 2000 g Package Type θJA θJC Weight
Any Axis, Powered 2000 g 24-Lead Module (ML-24-6) 22.8°C/W 10.1°C/W 48 g
VDD to GND −0.3 V to +3.6 V
Digital Input Voltage to GND −0.3 V to VDD + 0.2 V
ESD CAUTION
Digital Output Voltage to GND −0.3 V to VDD + 0.2 V
Operating Temperature Range
ADIS16488BMLZ −40°C to +105°C
ADIS16488CMLZ −55°C to +105°C
Storage Temperature Range1 −65°C to +150°C
Barometric Pressure 2 bar
1
Extended exposure to temperatures that are lower than −55°C or higher
than +105°C can adversely affect the accuracy of the factory calibration.
Stresses at or above those listed under Absolute Maximum
Ratings may cause permanent damage to the product. This is a
stress rating only; functional operation of the product at these
or any other conditions above those indicated in the operational
section of this specification is not implied. Operation beyond
the maximum operating conditions for extended periods may
affect product reliability.
PIN CONFIGURATION AND FUNCTION DESCRIPTIONS

ADIS16488A
TOP VIEW
(Not to Scale)
DOUT
DIO4
GND
DNC
DNC
DNC
DNC
DNC
VDD
VDD
RST
CS
24 22 20 18 16 14 12 10 8 6 4 2
PIN 23
PIN 1
23 21 19 17 15 13 11 9 7 5 3 1
DIO2
DIO1
DIO3
GND
GND
DIN
SCLK
VDD
VDDRTC
DNC
DNC
DNC
NOTES
1. THIS REPRESENTATION DISPLAYS THE TOP VIEW PINOUT
FOR THE MATING SOCKET CONNECTOR.
2. THE ACTUAL CONNECTOR PINS ARE NOT VISIBLE FROM
11855-005
THE TOP VIEW.
11855-006
3. MATING CONNECTOR: SAMTEC CLM-112-02 OR EQUIVALENT.
4. DNC = DO NOT CONNECT TO THESE PINS.
PIN 1 PIN 2
Figure 5. Mating Connector Pin Assignments
Figure 6. Axial Orientation (Top Side Facing Up)
Table 6. Pin Function Descriptions

Pin No. Mnemonic Type Description
1 DIO3 Input/output Configurable Digital Input/Output.
3 SCLK Input SPI Serial Clock.
4 DOUT Output SPI Data Output. Clocks output on SCLK falling edge.
5 DIN Input SPI Data Input. Clocks input on SCLK rising edge.
6 CS Input SPI Chip Select.
8 RST Input Reset.
10, 11, 12 VDD Supply Power Supply.
13, 14, 15 GND Supply Power Ground.
16 to 22, 24 DNC Not applicable Do Not Connect. Do not connect to these pins.
23 VDDRTC Supply Real-Time Clock Power Supply.
TYPICAL PERFORMANCE CHARACTERISTICS

100 0.3
AVERAGE AVERAGE
0.2
ROOT ALLAN VARIANCE (°/Hour)
+3σ
BIAS ERROR (°/sec)

0.1
+1σ
10 0
–0.1 –3σ
–1σ
–0.2
1 –0.3
11855-007
11855-209
0.01 0.1 1 10 100 1000 10000 –50 –40 –30 –20 –10 0 10 20 30 40 50 60 70 80 90 100 110
INTEGRATION PERIOD (Seconds) TEMPERATURE (°C)
Figure 7. Gyroscope Allan Variance, 25°C Figure 9. Gyroscope Bias Error vs. Temperature
0.001 0.8
AVERAGE AVERAGE
0.6
ROOT ALLAN VARIANCE ( g)
SENSITIVITY ERROR (% FS)
0.4
+1σ
0.2 +3σ
0.0001 0
–0.2 –3σ
–1σ –0.4
–0.6
0.00001 –0.8
11855-008
11855-210
0.01 0.1 1 10 100 1000 10000 –50 –40 –30 –20 –10 0 10 20 30 40 50 60 70 80 90 100 110
INTEGRATION PERIOD (Seconds) TEMPERATURE (°C)
Figure 8. Accelerometer Allan Variance, 25°C Figure 10. Gyroscope Scale (Sensitivity) Error vs. Temperature
THEORY OF OPERATION
The ADIS16488A is an autonomous sensor system that self REGISTER STRUCTURE
starts when it has a valid power supply. After running through its The register structure and SPI port provide a bridge between
initialization process, it begins sampling, processing, and the sensor processing system and an external, master processor.
loading calibrated sensor data into the output registers, which It contains both output data and control registers. The output
are accessible using the SPI port. The SPI port typically connects to data registers include the latest sensor data, a real-time clock, error
a compatible port on an embedded processor, using the connec- flags, alarm flags, and identification data. The control registers
tions as shown in Figure 11. include sample rate, filtering, input/output, alarms, calibration,
The four SPI signals facilitate synchronous, serial data communi- and diagnostic configuration options. All communication
cation. Connect the reset line (RST) to VDD or do not connect between the ADIS16488A and an external processor involves
it to anything for normal operation. The factory default either reading or writing to one of the user registers.
configuration provides users with a data ready signal on the TRIAXIS
DIO2 pin, which pulses high when new data is available in the GYRO
OUTPUT
TRIAXIS DSP
output data registers. ACCEL REGISTERS
SPI
I/O LINES ARE COMPATIBLE WITH TRIAXIS
3.3V LOGIC LEVELS +3.3V MAGN
CONTROL
VDD REGISTERS
BARO CONTROLLER
11855-010
10 11 12 23 TEMP
SYSTEM SENSOR
PROCESSOR SS 6 CS ADIS16488A
SPI MASTER Figure 12. Basic Operation
SCLK 3 SCLK
MOSI 5 DIN
The register structure uses a paged addressing scheme that is
MISO 4 DOUT
composed of 13 pages, with each page containing 64 register
locations. Each register is 16 bits wide, with each byte having its
IRQ 9 DIO2
own unique address within the memory map of that page. The
13 14 15
SPI port has access to one page at a time, using the bit sequence
11855-009
shown in Figure 13.

Figure 11. Electrical Connection Diagram Select the page to activate for SPI access by writing its code to
the PAGE_ID register. Read the PAGE_ID register to determine
Table 7. Generic Master Processor Pin Names and Functions which page is currently active. Table 9 displays the PAGE_ID
Mnemonic Function contents for each page, together with their basic functions. The
SS Slave select PAGE_ID register is located at Address 0x00 on every page.
IRQ Interrupt request
MOSI Master output, slave input Table 9. User Register Page Assignments
MISO Master input, slave output Page PAGE_ID Function
SCLK Serial clock 0 0x00 Output data, clock, identification
1 0x01 Reserved
Embedded processors typically use control registers to configure 2 0x02 Calibration
their serial ports for communicating with SPI slave devices, 3 0x03 Control: sample rate, filtering, input/output,
such as the ADIS16488A. Table 8 provides a list of settings alarms
describing the SPI protocol of the ADIS16488A. The initializa- 4 0x04 Serial number
tion routine of the master processor typically establishes these 5 0x05 FIR Filter Bank A, Coefficient 0 to Coefficient 59
settings using firmware commands to write them into its serial 6 0x06 FIR Filter Bank A, Coefficient 60 to Coefficient 119
control registers. 7 0x07 FIR Filter Bank B, Coefficient 0 to Coefficient 59
8 0x08 FIR Filter Bank B, Coefficient 60 to Coefficient 119
Table 8. Generic Master Processor SPI Settings 9 0x09 FIR Filter Bank C, Coefficient 0 to Coefficient 59
Processor Setting Description 10 0x0A FIR Filter Bank C, Coefficient 60 to Coefficient 119
Master The ADIS16488A operates as a slave 11 0x0B FIR Filter Bank D, Coefficient 0 to Coefficient 59
SCLK ≤ 15 MHz Maximum serial clock rate 12 0x0C FIR Filter Bank D, Coefficient 60 to Coefficient 119
SPI Mode 3 CPOL = 1 (polarity), and CPHA = 1 (phase) SPI COMMUNICATION
MSB-First Mode Bit sequence
If the previous command was a read request, the SPI port supports
16-Bit Mode Shift register/data length
full duplex communication, which enables external processors to
write to DIN while reading DOUT (see Figure 13). Figure 13
provides a guideline for the bit coding on both DIN and DOUT.
CS
SCLK
DIN R/W A6 A5 A4 A3 A2 A1 A0 DC7 DC6 DC5 DC4 DC3 DC2 DC1 DC0 R/W A6 A5
DOUT D15 D14 D13 D12 D11 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 D15 D14 D13
NOTES
1. DOUT BITS ARE PRODUCED ONLY WHEN THE PREVIOUS 16-BIT DIN SEQUENCE STARTS WITH R/W = 0.
11855-015
2. WHEN CS IS HIGH, DOUT IS IN A THREE-STATE, HIGH IMPEDANCE MODE, WHICH ALLOWS MULTIFUNCTIONAL USE OF THE LINE
FOR OTHER DEVICES.
Figure 13. SPI Communication Bit Sequence
DEVICE CONFIGURATION MANUAL

FLASH
The SPI provides write access to the control registers, one byte at BACKUP
a time, using the bit assignments shown in Figure 13. Each register NONVOLATILE VOLATILE
FLASH MEMORY SRAM
has 16 bits, where Bits[7:0] represent the lower address (listed in
(NO SPI ACCESS) SPI ACCESS
Table 10) and Bits[15:8] represent the upper address. Write to
the lower byte of a register first, followed by a write to its upper START-UP
11855-012
RESET
byte (the only register that changes with a single write to its
lower byte is the PAGE_ID register).
Figure 15. SRAM and Flash Memory Diagram
For a write command, the first bit in the DIN sequence is set to 1.
Address Bits[A6:A0] represent the target address, and Data READING SENSOR DATA
Command Bits[DC7:DC0] represent the data being written to the The ADIS16488A automatically starts up and activates Page 0
location. Figure 14 provides an example of writing 0x03 to for data register access. Write 0x00 to the PAGE_ID register
Address 0x00 (PAGE_ID [7:0]) using DIN = 0x8003. This write (DIN = 0x8000) to activate Page 0 for data access after accessing
command activates the control page for SPI access. any other page.
CS A single register read requires two 16-bit SPI cycles. The first
SCLK
cycle requests the contents of a register using the bit assignments in
Figure 13, and then the register contents follow DOUT during
DIN the second sequence.
11855-011
DIN = 1000 0000 0000 0011 = 0x8003, WRITES 0x03 TO ADDRESS 0x00
The first bit in a DIN command is zero, followed by either the
Figure 14. SPI Sequence for Activating the Control Page (DIN = 0x8003) upper or lower address for the register. The last eight bits are
Dual Memory Structure don’t care, but the SPI requires the full set of 16 SCLKs to
Writing configuration data to a control register updates its SRAM receive the request.
contents, which are volatile. After optimizing each relevant control Figure 16 includes two register reads in succession, which starts
register setting in a system, use the manual flash update command, with DIN = 0x1A00, to request the contents of the Z_GYRO_OUT
which is located in GLOB_CMD[3] on Page 3 of the register map. register, and follows with 0x1800, to request the contents of the
Activate the manual flash update command by turning to Page 3 Z_GYRO_LOW register.
(DIN = 0x8003) and setting GLOB_CMD[3] = 1 (DIN = 0x8208, NEXT
DIN 0x1A00 0x1800
then DIN = 0x8300). For a flash memory update, ensure that the ADDRESS
11855-013
power supply is within specification for the entire processing time DOUT Z_GYRO_OUT Z_GYRO_LOW
(see Table 1). Table 10 provides a memory map for all of the user
Figure 16. SPI Read Example
registers, which includes a column of flash backup information. A
yes in this column indicates that a register has a mirror location in Figure 17 provides an example of the four SPI signals when reading
flash and, when backed up properly, automatically restores itself PROD_ID in a repeating pattern. This is an effective pattern to use
during startup or after a reset. Figure 15 provides a diagram of for troubleshooting the SPI interface setup and communications
the dual memory structure that supports all device operations because the contents of PROD_ID are predefined and stable.
and stores critical user settings. CS
SCLK
DIN DIN = 0111 1110 0000 0000 = 0x7E00

11855-014
DOUT
DOUT = 0100 0000 0110 1000 = 0x4068 = 16,488 (PROD_ID)
Figure 17. SPI Read Example, Second 16-Bit Sequence
USER REGISTERS
Table 10. User Register Memory Map (N/A = Not Applicable)
Name R/W1 Flash PAGE_ID Address Default Register Description Format
PAGE_ID R/W No 0x00 0x00 0x00 Page identifier N/A
Reserved N/A N/A 0x00 0x02 to 0x04 N/A Reserved N/A
SEQ_CNT R No 0x00 0x06 N/A Sequence counter Table 57
SYS_E_FLAG R No 0x00 0x08 0x0000 Output, system error flags Table 48
DIAG_STS R No 0x00 0x0A 0x0000 Output, self test error flags Table 49
ALM_STS R No 0x00 0x0C 0x0000 Output, alarm error flags Table 50
TEMP_OUT R No 0x00 0x0E N/A Output, temperature Table 46
X_GYRO_LOW R No 0x00 0x10 N/A Output, x-axis gyroscope, low word Table 15
X_GYRO_OUT R No 0x00 0x12 N/A Output, x-axis gyroscope, high word Table 11
Y_GYRO_LOW R No 0x00 0x14 N/A Output, y-axis gyroscope, low word Table 16
Y_GYRO_OUT R No 0x00 0x16 N/A Output, y-axis gyroscope, high word Table 12
Z_GYRO_LOW R No 0x00 0x18 N/A Output, z-axis gyroscope, low word Table 17
Z_GYRO_OUT R No 0x00 0x1A N/A Output, z-axis gyroscope, high word Table 13
X_ACCL_LOW R No 0x00 0x1C N/A Output, x-axis accelerometer, low word Table 22
X_ACCL_OUT R No 0x00 0x1E N/A Output, x-axis accelerometer, high word Table 18
Y_ACCL_LOW R No 0x00 0x20 N/A Output, y-axis accelerometer, low word Table 23
Y_ACCL_OUT R No 0x00 0x22 N/A Output, y-axis accelerometer, high word Table 19
Z_ACCL_LOW R No 0x00 0x24 N/A Output, z-axis accelerometer, low word Table 24
Z_ACCL_OUT R No 0x00 0x26 N/A Output, z-axis accelerometer, high word Table 20
X_MAGN_OUT R No 0x00 0x28 N/A Output, x-axis magnetometer, high word Table 39
Y_MAGN_OUT R No 0x00 0x2A N/A Output, y-axis magnetometer, high word Table 40
Z_MAGN_OUT R No 0x00 0x2C N/A Output, z-axis magnetometer, high word Table 41
BAROM_LOW R No 0x00 0x2E N/A Output, barometer, low word Table 45
BAROM_OUT R No 0x00 0x30 N/A Output, barometer, high word Table 43
Reserved N/A N/A 0x00 0x32 to 0x3E N/A Reserved N/A
X_DELTANG_LOW R No 0x00 0x40 N/A Output, x-axis delta angle, low word Table 29
X_DELTANG_OUT R No 0x00 0x42 N/A Output, x-axis delta angle, high word Table 25
Y_DELTANG_LOW R No 0x00 0x44 N/A Output, y-axis delta angle, low word Table 30
Y_DELTANG_OUT R No 0x00 0x46 N/A Output, y-axis delta angle, high word Table 26
Z_DELTANG_LOW R No 0x00 0x48 N/A Output, z-axis delta angle, low word Table 31
Z_DELTANG_OUT R No 0x00 0x4A N/A Output, z-axis delta angle, high word Table 27
X_DELTVEL_LOW R No 0x00 0x4C N/A Output, x-axis delta velocity, low word Table 36
X_DELTVEL_OUT R No 0x00 0x4E N/A Output, x-axis delta velocity, high word Table 32
Y_DELTVEL_LOW R No 0x00 0x50 N/A Output, y-axis delta velocity, low word Table 37
Y_DELTVEL_OUT R No 0x00 0x52 N/A Output, y-axis delta velocity, high word Table 33
Z_DELTVEL_LOW R No 0x00 0x54 N/A Output, z-axis delta velocity, low word Table 38
Z_DELTVEL_OUT R No 0x00 0x56 N/A Output, z-axis delta velocity, high word Table 34
TIME_MS_OUT R/W Yes 0x00 0x78 N/A Factory configuration time: minutes/seconds Table 125
TIME_DH_OUT R/W Yes 0x00 0x7A N/A Factory configuration date/time: day/hour Table 126
TIME_YM_OUT R/W Yes 0x00 0x7C N/A Factory configuration date: year/month Table 127
PROD_ID R Yes 0x00 0x7E 0x4068 Output, product identification (16,488) Table 54
Reserved N/A N/A 0x01 0x00 to 0x7E N/A Reserved N/A
Reserved N/A N/A 0x02 0x02 N/A Reserved N/A
X_GYRO_SCALE R/W Yes 0x02 0x04 0x0000 Calibration, scale, x-axis gyroscope Table 72
Y_GYRO_SCALE R/W Yes 0x02 0x06 0x0000 Calibration, scale, y-axis gyroscope Table 73
Z_GYRO_SCALE R/W Yes 0x02 0x08 0x0000 Calibration, scale, z-axis gyroscope Table 74
X_ACCL_SCALE R/W Yes 0x02 0x0A 0x0000 Calibration, scale, x-axis accelerometer Table 82
Y_ACCL_SCALE R/W Yes 0x02 0x0C 0x0000 Calibration, scale, y-axis accelerometer Table 83
Z_ACCL_SCALE R/W Yes 0x02 0x0E 0x0000 Calibration, scale, z-axis accelerometer Table 84
XG_BIAS_LOW R/W Yes 0x02 0x10 0x0000 Calibration, offset, gyroscope, x-axis, low word Table 68
XG_BIAS_HIGH R/W Yes 0x02 0x12 0x0000 Calibration, offset, gyroscope, x-axis, high word Table 65
YG_BIAS_LOW R/W Yes 0x02 0x14 0x0000 Calibration, offset, gyroscope, y-axis, low word Table 69
YG_BIAS_HIGH R/W Yes 0x02 0x16 0x0000 Calibration, offset, gyroscope, y-axis, high word Table 66
ZG_BIAS_LOW R/W Yes 0x02 0x18 0x0000 Calibration, offset, gyroscope, z-axis, low word Table 70
ZG_BIAS_HIGH R/W Yes 0x02 0x1A 0x0000 Calibration, offset, gyroscope, z-axis, high word Table 67
XA_BIAS_LOW R/W Yes 0x02 0x1C 0x0000 Calibration, offset, accelerometer, x-axis, low word Table 79
XA_BIAS_HIGH R/W Yes 0x02 0x1E 0x0000 Calibration, offset, accelerometer, x-axis, high word Table 76
YA_BIAS_LOW R/W Yes 0x02 0x20 0x0000 Calibration, offset, accelerometer, y-axis, low word Table 80
YA_BIAS_HIGH R/W Yes 0x02 0x22 0x0000 Calibration, offset, accelerometer, y-axis, high word Table 77
ZA_BIAS_LOW R/W Yes 0x02 0x24 0x0000 Calibration, offset, accelerometer, z-axis, low word Table 81
ZA_BIAS_HIGH R/W Yes 0x02 0x26 0x0000 Calibration, offset, accelerometer, z-axis, high word Table 78
HARD_IRON_X R/W Yes 0x02 0x28 0x0000 Calibration, hard iron, magnetometer, x-axis Table 85
HARD_IRON_Y R/W Yes 0x02 0x2A 0x0000 Calibration, hard iron, magnetometer, y-axis Table 86
HARD_IRON_Z R/W Yes 0x02 0x2C 0x0000 Calibration, hard iron, magnetometer, z-axis Table 87
SOFT_IRON_S11 R/W Yes 0x02 0x2E 0x0000 Calibration, soft iron, magnetometer, S11 Table 89
SOFT_IRON_S12 R/W Yes 0x02 0x30 0x0000 Calibration, soft iron, magnetometer, S12 Table 90
SOFT_IRON_S31 R/W Yes 0x02 0x3A 0x0000 Calibration, soft iron, magnetometer, S31 Table 95
SOFT_IRON_S32 R/W Yes 0x02 0x3C 0x0000 Calibration, soft iron, magnetometer, S32 Table 96
SOFT_IRON_S33 R/W Yes 0x02 0x3E 0x0000 Calibration, soft iron, magnetometer, S33 Table 97
BR_BIAS_LOW R/W Yes 0x02 0x40 0x0000 Calibration, offset, barometer, low word Table 100
BR_BIAS_HIGH R/W Yes 0x02 0x42 0x0000 Calibration, offset, barometer, high word Table 99
USER_SCR_1 R/W Yes 0x02 0x74 0x0000 User Scratch Register 1 Table 121
USER_SCR_4 R/W Yes 0x02 0x7A 0x0000 User Scratch Register 4 Table 124
FLSHCNT_LOW R Yes 0x02 0x7C N/A Diagnostic, flash memory count, low word Table 116
FLSHCNT_HIGH R Yes 0x02 0x7E N/A Diagnostic, flash memory count, high word Table 117
GLOB_CMD W No 0x03 0x02 N/A Control, global commands Table 115
FNCTIO_CTRL R/W Yes 0x03 0x06 0x000D Control, input/output pins, functional definitions Table 118
GPIO_CTRL R/W Yes 0x03 0x08 0x00X02 Control, input/output pins, general purpose Table 119
CONFIG R/W Yes 0x03 0x0A 0x00C0 Control, clock, and miscellaneous correction Table 75
DEC_RATE R/W Yes 0x03 0x0C 0x0000 Control, output sample rate decimation Table 56
NULL_CNFG R/W Yes 0x03 0x0E 0x070A Control, automatic bias correction configuration Table 71
SLP_CNT R/W No 0x03 0x10 N/A Control, power-down/sleep mode Table 120
FILTR_BNK_0 R/W Yes 0x03 0x16 0x0000 Filter selection Table 58
FILTR_BNK_1 R/W Yes 0x03 0x18 0x0000 Filter selection Table 59
Reserved N/A N/A 0x03 0x1A to 0x1E N/A Reserved N/A
ALM_CNFG_0 R/W Yes 0x03 0x20 0x0000 Alarm configuration Table 111
XG_ALM_MAGN R/W Yes 0x03 0x28 0x0000 Alarm, x-axis gyroscope threshold setting Table 101
YG_ALM_MAGN R/W Yes 0x03 0x2A 0x0000 Alarm, y-axis gyroscope threshold setting Table 102
ZG_ALM_MAGN R/W Yes 0x03 0x2C 0x0000 Alarm, z-axis gyroscope threshold setting Table 103
XA_ALM_MAGN R/W Yes 0x03 0x2E 0x0000 Alarm, x-axis accelerometer threshold Table 104
YA_ALM_MAGN R/W Yes 0x03 0x30 0x0000 Alarm, y-axis accelerometer threshold Table 105
ZA_ALM_MAGN R/W Yes 0x03 0x32 0x0000 Alarm, z-axis accelerometer threshold Table 106
XM_ALM_MAGN R/W Yes 0x03 0x34 0x0000 Alarm, x-axis magnetometer threshold Table 107
YM_ALM_MAGN R/W Yes 0x03 0x36 0x0000 Alarm, y-axis magnetometer threshold Table 108
ZM_ALM_MAGN R/W Yes 0x03 0x38 0x0000 Alarm, z-axis magnetometer threshold Table 109
BR_ALM_MAGN R/W Yes 0x03 0x3A 0x0000 Alarm, barometer threshold setting Table 110
Reserved N/A N/A 0x03 0x3C to 0x76 N/A Reserved N/A
FIRM_REV R Yes 0x03 0x78 N/A Firmware revision Table 51
FIRM_DM R Yes 0x03 0x7A N/A Firmware programming date: day/month Table 52
FIRM_Y R Yes 0x03 0x7C N/A Firmware programming date: year Table 53
Reserved N/A N/A 0x03 0x7E N/A Reserved N/A
SERIAL_NUM R Yes 0x04 0x20 N/A Serial number Table 55
Reserved N/A N/A 0x04 0x22 to 0x7F N/A Reserved N/A
FIR_COEF_Axxx R/W Yes 0x05 0x02 to 0x7E N/A FIR Filter Bank A, Coefficient 0 through Coefficient 59 Table 60
FIR_COEF_Axxx R/W Yes 0x06 0x02 to 0x7E N/A FIR Filter Bank A, Coefficient 60 through Table 60
Coefficient 119
FIR_COEF_Bxxx R/W Yes 0x07 0x02 to 0x7E N/A FIR Filter Bank B, Coefficient 0 through Coefficient 59 Table 61
FIR_COEF_Bxxx R/W Yes 0x08 0x02 to 0x7E N/A FIR Filter Bank B, Coefficient 60 through Table 61
Coefficient 119
FIR_COEF_Cxxx R/W Yes 0x09 0x02 to 0x7E N/A FIR Filter Bank C, Coefficient 0 through Coefficient 59 Table 62
PAGE_ID R/W No 0x0A 0x00 0x0000 Page identifier N/A
FIR_COEF_Cxxx R/W Yes 0x0A 0x02 to 0x7E N/A FIR Filter Bank C, Coefficient 60 through Table 62
Coefficient 119
PAGE_ID R/W No 0x0B 0x00 0x0000 Page identifier N/A
FIR_COEF_Dxxx R/W Yes 0x0B 0x02 to 0x7E N/A FIR Filter Bank D, Coefficient 0 through Coefficient 59 Table 63
PAGE_ID R/W No 0x0C 0x00 0x0000 Page identifier N/A
FIR_COEF_Dxxx R/W Yes 0x0C 0x02 to 0x7E N/A FIR Filter Bank D, Coefficient 60 through Table 63
Coefficient 119
1
R is read only, W is write only, R/W is read and write, and N/A means not applicable.
2
The GPIO_CTRL[7:4] bits reflect the logic levels on the DIOx lines and do not have a default setting.
OUTPUT DATA REGISTERS

After the ADIS16488A completes its start-up process, the
PAGE_ID register contains 0x0000, which sets Page 0 as the Table 12. Y_GYRO_OUT (Page 0, Base Address = 0x16)
active page for SPI access. Page 0 contains the output data, real- Bits Description
time clock, status, and product identification registers. [15:0] Y-axis gyroscope data; twos complement,
±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec
INERTIAL SENSOR DATA FORMAT
Table 13. Z_GYRO_OUT (Page 0, Base Address = 0x1A)
The gyroscope, accelerometer, delta angle, delta velocity, and
barometer output data registers use a 32-bit, twos complement Bits Description
format. Each output uses two registers to support this resolution. [15:0] Z-axis gyroscope data; twos complement,
Figure 18 provides an example of how each register contributes
to each inertial measurement. In this case, X_GYRO_OUT is the Table 14. x_GYRO_OUT Data Format Examples
most significant word (upper 16 bits), and X_GYRO_LOW is the Rotation Rate Decimal Hex Binary
least significant word (lower 16 bits). In many cases, using the +450°/sec +22,500 0x57E4 0101 0111 1110 0100
most significant word registers alone provides sufficient resolution +0.04/sec +2 0x0002 0000 0000 0000 0010
for preserving key performance metrics. +0.02°/sec +1 0x0001 0000 0000 0000 0001
X_GYRO_OUT X_GYRO_LOW 0°/sec 0 0x0000 0000 0000 0000 0000
15 0 15 0 −0.02°/sec −1 0xFFFF 1111 1111 1111 1111
11855-016
X-AXIS GYROSCOPE DATA −0.04°/sec −2 0xFFFE 1111 1111 1111 1110

−450°/sec −22,500 0xA81C 1010 1000 0001 1100
Figure 18. Gyroscope Output Format Example, DEC_RATE > 0
The registers that use the x_GYRO_LOW naming format provide
The arrows in Figure 19 represent the direction of the motion,
additional resolution for the gyroscope measurements (see
which produces a positive output response in the output register
Table 15, Table 16, and Table 17). The MSB has a weight of
of each sensor. The accelerometers respond to both dynamic and
0.01°/sec, and each subsequent bit has ½ the weight of the
static forces associated with acceleration, including gravity. When
previous one.
lying perfectly flat, as shown in Figure 19, the z-axis accelerometer
output is 1 g, and the x and y accelerometers are 0 g. Table 15. X_GYRO_LOW (Page 0, Base Address = 0x10)
ROTATION RATE (GYROSCOPE) Bits Description
The registers that use the x_GYRO_OUT format are the primary [15:0] X-axis gyroscope data; additional resolution bits
registers for the gyroscope measurements (see Table 11, Table 12, Table 16. Y_GYRO_LOW (Page 0, Base Address = 0x14)
and Table 13). When processing data from these registers, use a
Bits Description
16-bit, twos complement data format. Table 14 provides
[15:0] Y-axis gyroscope data; additional resolution bits
x_GYRO_OUT digital coding examples.
Table 17. Z_GYRO_LOW (Page 0, Base Address = 0x18)
Table 11. X_GYRO_OUT (Page 0, Base Address = 0x12)
Bits Description
Bits Description
[15:0] Z-axis gyroscope data; additional resolution bits
[15:0] X-axis gyroscope data; twos complement,
Z-AXIS
aZ mZ
gZ
mX
mY X-AXIS
Y-AXIS
aX
gX
aY
11855-017
gY
PIN 23
PIN 1
Figure 19. Inertial Sensor Direction Reference Diagram
ACCELERATION The delta angle outputs represent an integration of the gyro-
The registers that use the x_ACCL_OUT format are the primary scope measurements and use the following formula for all three
registers for the accelerometer measurements (see Table 18, axes (x-axis displayed):
Table 19, and Table 20). When processing data from these
registers, use a 16-bit, twos complement data format. Table 21
∆θ x ,n D =
1 D −1
×∑ω (
2 f S d = 0 x ,n D + d
+ ω x ,n D + d −1 )
provides x_ACCL_OUT digital coding examples.
where:
Table 18. X_ACCL_OUT (Page 0, Base Address = 0x1E) D is the decimation rate = DEC_RATE + 1.
Bits Description
fs is the sample rate.
[15:0] X-axis accelerometer data; twos complement,
±18 g range, 0 g = 0x0000, 1 LSB = 0.8 mg d is the incremental variable in the summation formula.
ωx is the x-axis rate of rotation (gyroscope).
Table 19. Y_ACCL_OUT (Page 0, Base Address = 0x22)
Bits Description n is the sample time, prior to the decimation filter.
[15:0] Y-axis accelerometer data; twos complement, When using the internal sample clock, fS is equal to 2460 SPS.
±18 g range, 0 g = 0x0000, 1 LSB = 0.8 mg When using the external clock option, fS is equal to the frequency
Table 20. Z_ACCL_OUT (Page 0, Base Address = 0x26) of the external clock, which is limited to a minimum of 2 kHz,
to prevent overflow in the x_DELTANG_xxx registers at high
Bits Description
rotation rates. See Table 56 and Figure 20 for more information
[15:0] Z-axis accelerometer data; twos complement,
±18 g range, 0 g = 0x0000, 1 LSB = 0.8 mg on the DEC_RATE register (decimation filter).
The x_DELTANG_LOW registers (see Table 29, Table 30, and
Table 21. x_ACCL_OUT Data Format Examples Table 31) provide additional resolution bits for the delta angle and
Acceleration Decimal Hex Binary combine with the x_DELTANG_OUT registers to provide a 32-bit,
+18 g +22,500 0x57E4 0101 0111 1110 0100 twos complement number. The MSB in the x_DELTANG_LOW
+1.6 mg +2 0x0002 0000 0000 0000 0010 registers have a weight of ~0.011° (720°/216), and each subsequent
+0.8 mg +1 0x0001 0000 0000 0000 0001 bit carries a weight of ½ of the previous one.
0 mg 0 0x0000 0000 0000 0000 0000
−0.8 mg −1 0xFFFF 1111 1111 1111 1111 Table 25. X_DELTANG_OUT (Page 0, Base Address = 0x42)
−1.6 mg −2 0xFFFE 1111 1111 1111 1110 Bits Description
−18 g −22,500 0xA81C 1010 1000 0001 1100 [15:0] X-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
The registers that use the x_ACCL_LOW naming format provide
additional resolution for the accelerometer measurements (see Table 26. Y_DELTANG_OUT (Page 0, Base Address = 0x46)
Table 22, Table 23, and Table 24). The MSB has a weight of 0.4 mg, Bits Description
and each subsequent bit has ½ the weight of the previous one. [15:0] Y-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
Table 22. X_ACCL_LOW (Page 0, Base Address = 0x1C)
Bits Description Table 27. Z_DELTANG_OUT (Page 0, Base Address = 0x4A)
[15:0] X-axis accelerometer data; additional resolution bits Bits Description
[15:0] Z-axis delta angle data; twos complement,
Table 23. Y_ACCL_LOW (Page 0, Base Address = 0x20) ±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
Bits Description
[15:0] Y-axis accelerometer data; additional resolution bits Table 28. x_DELTANG_OUT Data Format Examples
Angle (°) Decimal Hex Binary
Table 24. Z_ACCL_LOW (Page 0, Base Address = 0x24) +720 × (215 − 1)/215 +32,767 0x7FFF 0111 1111 1110 1111
Bits Description +1440/215 +2 0x0002 0000 0000 0000 0010
[15:0] Z-axis accelerometer data; additional resolution bits +720/215 +1 0x0001 0000 0000 0000 0001
DELTA ANGLES 0 0 0x0000 0000 0000 0000 0000
−720/215 −1 0xFFFF 1111 1111 1111 1111
The x_DELTANG_OUT registers are the primary output registers
−1440/215 −2 0xFFFE 1111 1111 1111 1110
for the delta angle calculations. When processing data from these
−720 −32,768 0x8000 1000 0000 0000 0000
registers, use a 16-bit, twos complement data format (see Table 25,
Table 26, and Table 27). Table 28 provides x_DELTANG_OUT Table 29. X_DELTANG_LOW (Page 0, Base Address = 0x40)
digital coding examples. Bits Description
[15:0] X-axis delta angle data; additional resolution bits
Table 30. Y_DELTANG_LOW (Page 0, Base Address = 0x44) Table 35. x_DELTVEL_OUT, Data Format Examples
Bits Description Velocity (m/sec) Decimal Hex Binary
[15:0] Y-axis delta angle data; additional resolution bits +200 × (215 − 1)/215 +32,767 0x7FFF 0111 1111 1111 1111
+400/215 +2 0x0002 0000 0000 0000 0010
Table 31. Z_DELTANG_LOW (Page 0, Base Address = 0x48) +200/215 +1 0x0001 0000 0000 0000 0001
Bits Description 0 0 0x0000 0000 0000 0000 0000
[15:0] Z-axis delta angle data; additional resolution bits −200/215 −1 0xFFFF 1111 1111 1111 1111
DELTA VELOCITY −400/215 −2 0xFFFE 1111 1111 1111 1110
−200 −32,768 0x8000 1000 0000 0000 0000
The registers that use the x_DELTVEL_OUT format are the
primary registers for the delta velocity calculations. When
processing data from these registers, use a 16-bit, twos The x_DELTVEL_LOW registers (see Table 36, Table 37, and
complement data format (see Table 32, Table 33, and Table 34). Table 38) provide additional resolution bits for the delta velocity and
Table 35 provides x_DELTVEL_OUT digital coding examples. combine with the x_DELTVEL_OUT registers to provide a 32-bit,
twos complement number. The MSB in the x_DELTVEL_LOW
The delta velocity outputs represent an integration of the registers have a weight of ~3.052 mm/sec (200 m/sec ÷ 216), and each
accelerometer measurements and use the following formula for subsequent bit carries a weight of ½ of the previous one.
all three axes (x-axis displayed):
Table 36. X_DELTVEL_LOW (Page 0, Base Address = 0x4C)
∆Vx ,n D =
1 D −1
×∑ a (
2 f S d = 0 x ,n D + d
+ a x ,n D + d −1 ) Bits Description
[15:0] X-axis delta velocity data; additional resolution bits
where:
Table 37. Y_DELTVEL_LOW (Page 0, Base Address = 0x50)
D is the decimation rate = DEC_RATE + 1.
Bits Description
fS is the sample rate. [15:0] Y-axis delta velocity data; additional resolution bits
d is the incremental variable in the summation formula.
Table 38. Z_DELTVEL_LOW (Page 0, Base Address = 0x54)
ax is the x-axis linear acceleration. Bits Description
n is the sample time, prior to the decimation filter. [15:0] Z-axis delta velocity data; additional resolution bits
When using the internal sample clock, fS is equal to 2460 SPS. MAGNETOMETERS
When using the external clock option, fS is equal to the frequency
The registers that use the x_MAGN_OUT format are the primary
of the external clock, which is limited to a minimum of 2 kHz,
registers for the magnetometer measurements. When processing
to prevent overflow in the x_DELTVEL_xxx registers at high
data from these registers, use a 16-bit, twos complement data
rotation rates. See Table 56 and Figure 20 for more information
format. Table 39, Table 40, and Table 41 provide the numerical
on the DEC_RATE register (decimation filter).
format for each register, and Table 42 provides x_MAGN_OUT
Table 32. X_DELTVEL_OUT (Page 0, Base Address = 0x4E) digital coding examples.
Bits Description Table 39. X_MAGN_OUT (Page 0, Base Address = 0x28)
[15:0] X-axis delta velocity data; twos complement, ±200 m/sec Bits Description
range, 0 m/sec = 0x0000
[15:0] X-axis magnetometer data; twos complement,
1 LSB = 200 m/sec ÷ 215 = ~6.104 mm/sec ±3.2767 gauss range, 0 gauss = 0x0000,
1 LSB = 0.1 mgauss
Table 33. Y_DELTVEL_OUT (Page 0, Base Address = 0x52)
Bits Description Table 40. Y_MAGN_OUT (Page 0, Base Address = 0x2A)
[15:0] Y-axis delta velocity data; twos complement, ±200 m/sec Bits Description
range, 0 m/sec = 0x0000 [15:0] Y-axis magnetometer data; twos complement,
1 LSB = 0.1 mgauss
Table 34. Z_DELTVEL_OUT (Page 0, Base Address = 0x56)
Bits Description Table 41. Z_MAGN_OUT (Page 0, Base Address = 0x2C)
[15:0] Z-axis delta velocity data; twos complement, ±200 m/sec Bits Description
range, 0 m/sec = 0x0000 [15:0] Z-axis magnetometer data; twos complement,
1 LSB = 0.1 mgauss
Table 42. x_MAGN_OUT Data Format Examples Table 46. TEMP_OUT (Page 0, Base Address = 0x0E)
Magnetic Field Decimal Hex Binary Bits Description
+3.2767 gauss +32,767 0x7FFF 0111 1111 1111 1111 [15:0] Temperature data; twos complement, 0.00565°C per LSB,
+0.2 mgauss +2 0x0002 0000 0000 0000 0010 25°C = 0x0000
+0.1 mgauss +1 0x0001 0000 0000 0000 0001
Table 47. TEMP_OUT Data Format Examples
0 gauss 0 0x0000 0000 0000 0000 0000
Temperature (°C) Decimal Hex Binary
−0.1 mgauss −1 0xFFFF 1111 1111 1111 1111
+85 +10,619 0x297B 0010 1001 0111 1011
−0.2 mgauss −2 0xFFFE 1111 1111 1111 1110
+25 + 0.0113 +2 0x0002 0000 0000 0000 0010
−3.2768 gauss −32,768 0x8000 1000 0000 0000 0000
+25 + 0.00565 +1 0x0001 0000 0000 0000 0001
BAROMETER +25 0 0x0000 0000 0000 0000 0000
The BAROM_OUT register (see Table 43) and BAROM_LOW +25 − 0.00565 −1 0xFFFF 1111 1111 1111 1111
register (see Table 45) provide access to the barometric pressure +25 − 0.0113 −2 0xFFFE 1111 1111 1111 1110
data. These two registers combine to provide a 32-bit, twos −40 −11,504 0xD310 1101 0011 0001 0000
complement format. Some applications can use BAROM_OUT STATUS/ALARM INDICATORS
by itself. For cases where the finer resolution available from
BAROM_LOW is valuable, combine them in the same manner The SYS_E_FLAG register in Table 48 provides the system error
as the gyroscopes (see Figure 18). When processing data from flags and new data bits for the magnetometer and barometer
the BAROM_OUT register alone, use a 16-bit, twos complement outputs. The new data flags trigger data collection of the
data format. Table 43 provides the numerical format for BAROM_ magnetometer and barometer (x_MAGN_OUT and BAROM_xxx
OUT, and Table 44 provides digital coding examples. registers) because they update at a fixed rate that is not dependent
on the DEC_RATE setting.
Table 43. BAROM_OUT (Page 0, Base Address = 0x30) Reading the SYS_E_FLAG register clears all of its error flags and
Bits Description returns each bit to a zero value, with the exception of Bit 7. If
[15:0] Barometric pressure; twos complement, ±1.31 bar range, SYS_E_FLAG[7] is high, use the software reset (GLOB_CMD[7]
0 bar = 0x0000, 40 µbar/LSB (see Table 115) to clear this condition and restore normal
Table 44. BAROM_OUT Data Format Examples operation. If any bit in the SYS_E_FLAG register is associated
Pressure (Bar) Decimal Hex Binary
with an error condition that remains after reading this register,
this bit automatically returns to an alarm value of 1.
+0.00004 × (215 − 1) +32,767 0x7FFF 0111 1111 1110 1111
+0.00008 +2 0x0002 0000 0000 0000 0010 Table 48. SYS_E_FLAG (Page 0, Base Address = 0x08)
+0.00004 +1 0x0001 0000 0000 0000 0001 Bits Description (Default = 0x0000)
0 0 0x0000 0000 0000 0000 0000 [15] Watch dog timer flag (1 = timed out)
−0.00004 −1 0xFFFF 1111 1111 1111 1111 [14:10] Not used
−0.00008 −2 0xFFFE 1111 1111 1111 1110 9 New data flag, barometer (1 = new, unread data)1
−0.00004 × 215 −32,768 0x8000 1000 0000 0000 0000 8 New data flag, magnetometer (1 = new, unread data)2
The BAROM_LOW register provides additional resolution for 7 Processing overrun (1 = error)
the barometric pressure measurement. The MSB has a weight of 6 Flash memory update, result of GLOB_CMD[3] = 1
20 μbar, and each subsequent bit carries a weight of ½ of the (1 = failed update, 0 = update successful)
previous one. 5 Inertial self-test failure (1 = DIAG_STS ≠ 0x0000)
4 Sensor overrange (1 = at least one sensor overranged)
Table 45. BAROM_LOW (Page 0, Base Address = 0x2E) 3 SPI communication error
Bits Description (1 = error condition, when the number of SCLK pulses
[15:0] Barometric pressure; additional resolution bits is not equal to a multiple of 16)
INTERNAL TEMPERATURE [2:1] Not used
0 Alarm status flag (1 = ALM_STS ≠ 0x0000)
The TEMP_OUT register provides an internal temperature
measurement for observing relative temperature changes inside 1
This flag restores to zero after reading the contents on BAROM_OUT.
the ADIS16488A (see Table 46). Table 47 provides TEMP_OUT
2
This flag restores to zero after reading one x_MAGN_OUT register.
digital coding examples. Note that this temperature reflects a

higher temperature than that of ambient temperature, due to
self heating.
The DIAG_STS register in Table 49 provides the flags for the Table 51. FIRM_REV (Page 3, Base Address = 0x78)
internal self test function, which is from GLOB_CMD[1] (see Bits Description
Table 115). Note that the flag of the barometer, DIAG_STS[11], [15:12] Firmware revision BCD code, tens digit
updates only after start-up and reset operations and that reading Numerical format = 4-bit binary, range = 0 to 9
the DIAG_STS register causes all of its bits to restore to 0. The [11:8] Firmware revision BCD code, ones digit
bits only return to 1 if the error condition persists. Numerical format = 4-bit binary, range = 0 to 9
[7:4] Firmware revision BCD code, tenths digit
Table 49. DIAG_STS (Page 0, Base Address = 0x0A) Numerical format = 4-bit binary, range = 0 to 9
Bits Description (Default = 0x0000) [3:0] Firmware revision BCD code, hundredths digit
[15:12] Not used Numerical format = 4-bit binary, range = 0 to 9
11 Self test failure, barometer (1 = failed at start-up) The FIRM_DM register (see Table 52) contains the month and
10 Self test failure, z-axis magnetometer (1 = failure) day of the factory configuration date. FIRM_DM[15:12] and
9 Self test failure, y-axis magnetometer (1 = failure) FIRM_DM[11:8] contain digits that represent the month of the
8 Self test failure, x-axis magnetometer (1 = failure) factory configuration in a BCD format. For example, November
[7:6] Not used is the 11th month in a year and is represented by FIRM_DM[15:8] =
5 Self test failure, z-axis accelerometer (1 = failure) 0x11.
4 Self test failure, y-axis accelerometer (1 = failure)
FIRM_DM[7:4] and FIRM_DM[3:0] contain digits that represent
3 Self test failure, x-axis accelerometer (1 = failure)
the day of factory configuration in a BCD format. For example,
2 Self test failure, z-axis gyroscope (1 = failure) the 27th day of the month is represented by FIRM_DM[7:0] = 0x27.
1 Self test failure, y-axis gyroscope (1 = failure)
0 Self test failure, x-axis gyroscope (1 = failure) Table 52. FIRM_DM (Page 3, Base Address = 0x7A)
The ALM_STS register in Table 50 provides the alarm bits for Bits Description
the programmable alarm levels of each sensor. Note that reading [15:12] Factory configuration month BCD code, tens digit,
numerical format = 4-bit binary, range = 0 to 2
the ALM_STS register causes all of its bits to restore to 0. The
[11:8] Factory configuration month BCD code, ones digit,
bits only return to 1 if the error condition persists.
Table 50. ALM_STS (Page 0, Base Address = 0x0C) [7:4] Factory configuration day BCD code, tens digit
Bits Description (Default = 0x0000) Numerical format = 4-bit binary, range = 0 to 3
[3:0] Factory configuration day BCD code, ones digit
[15:12] Not used
Numerical format = 4-bit binary, range = 0 to 9
11 Barometer alarm flag (1 = alarm is active)
10 Z-axis magnetometer alarm flag (1 = alarm is active) The FIRM_Y register (see Table 53) contains the year of the
9 Y-axis magnetometer alarm flag (1 = alarm is active) factory configuration date. For example, the year, 2013, is
8 X-axis magnetometer alarm flag (1 = alarm is active) represented by FIRM_Y = 0x2013.
[7:6] Not used
Table 53. FIRM_Y (Page 3, Base Address = 0x7C)
5 Z-axis accelerometer alarm flag (1 = alarm is active)
Bits Description
4 Y-axis accelerometer alarm flag (1 = alarm is active)
[15:12] Factory configuration year BCD code, thousands digit,
3 X-axis accelerometer alarm flag (1 = alarm is active)
2 Z-axis gyroscope alarm flag (1 = alarm is active)
[11:8] Factory configuration year BCD code, hundreds digit,
1 Y-axis gyroscope alarm flag (1 = alarm is active) numerical format = 4-bit binary, range = 0 to 9
0 X-axis gyroscope alarm flag (1 = alarm is active) [7:4] Factory configuration year BCD code, tens digit,
FIRMWARE REVISION numerical format = 4-bit binary, range = 0 to 3
[3:0] Factory configuration year BCD code, ones digit,
The FIRM_REV register (see Table 51) provides the firmware numerical format = 4-bit binary, range = 0 to 9
revision for the internal firmware. This register uses a binary
coded decimal (BCD) format, where each nibble represents a
digit. For example, if FIRM_REV = 0x1234, the firmware
revision is 12.34. The tens digit is equal to 1, the ones digit is
equal to 2, the tenths digit is equal to 3, and the hundredths
digit is equal to 4.
PRODUCT IDENTIFICATION Table 54. PROD_ID (Page 0, Base Address = 0x7E)
The PROD_ID register (see Table 54) contains the binary Bits Description (Default = 0x4068)
equivalent of the device number (16,488 = 0x4068), and the [15:0] Product identification = 0x4068
SERIAL_NUM register (see Table 55) contains a lot-specific
Table 55. SERIAL_NUM (Page 4, Base Address = 0x20)
serial number.
Bits Description
[15:0] Lot-specific serial number
DIGITAL SIGNAL PROCESSING

GYROSCOPES/ACCELEROMETERS MAGNETOMETER/BAROMETER
Figure 20 provides a signal flow diagram for all of the compo- When using the internal sampling clock, the magnetometer
nents and settings that influence the frequency response for output registers (x_MAGN_OUT) update at a rate of 102.5 SPS
the accelerometers and gyroscopes. The sample rate for each and the barometer output registers (BAROM_xxx) update at a
accelerometer and gyroscope is 9.84 kHz. Each sensor has rate of 51.25 SPS. When using the external clock, the magnet-
its own averaging/decimation filter stage, which reduces the ometers update at a rate of 1/24th of the input clock frequency
update rate to 2.46 kSPS. When using the external clock option and the barometers update at a rate that is 1/48th of the input
(FNCTIO_CTRL[7:4], see Table 118), the input clock drives a clock frequency.
four-sample burst at a sample rate of 9.84 kSPS, which feeds
The update rates for the magnetometer and barometers do not
into the 4× averaging/decimation filter. This results in a data
change with the DEC_RATE register settings. SYS_E_FLAG[9:8]
rate that is equal to the input clock frequency.
(see Table 48) offers new data indicator bits that indicate fresh,
AVERAGING/DECIMATION FILTER unread data is in the x_MAGN_OUT and BAROM_xxx registers.
The DEC_RATE register (see Table 56) provides user control for The SEQ_CNT register provides a counter function to help
the final filter stage (see Figure 20), which averages and decimates determine when there is new data in the magnetometer and
the accelerometers, gyroscopes, delta angle, and delta velocity data. barometer registers.
The output sample rate is equal to 2460/(DEC_RATE + 1). When SEQ_CNT = 0x0001, there is new data in the magne-
When using the external clock option (FNCTIO_CTRL[7:4], see tometer and barometer output registers. During initialization, the
Table 118), replace the 2460 number in this relationship with the SEQ_CNT register helps to synchronize read loops for new data in
input clock frequency. For example, turn to Page 3 (DIN = 0x8003), both magnetometer and barometer outputs. When beginning a
and set DEC_RATE = 0x18 (DIN = 0x8C18, then DIN = 0x8D00) continuous read loop, read SEQ_CNT, then subtract this value
to reduce the output sample rate to 98.4 SPS (2460 ÷ 25). from the maximum value shown (range) in Table 57 to predict
the number of internal sample cycles until both magnetometer
Table 56. DEC_RATE (Page 3, Base Address = 0x0C) and barometer registers contain new data samples.
Bits Description (Default = 0x0000)
[15:11] Don’t care Table 57. SEQ_CNT (Page 0, Base Address = 0x06)
[10:0] Decimation rate, binary format, maximum = 2047, see Bits Description
Figure 20 for impact on sample rate [15:11] Don’t care
[6:0] Binary counter: range = 1 to 48/(DEC_RATE + 1)
2.46kHz, fs
4 FIR D
MEMS 1 FILTER
1 ÷D
SENSOR
330Hz 4 ÷4
BANK D
GYROSCOPE INTERNAL
2-POLE: 404Hz, 757Hz CLOCK 4× SELECTABLE AVERAGE/DECIMATION FILTER
ACCELEROMETER 9.84kHz AVERAGE FIR FILTER BANK D = DEC_RATE[10:0] + 1
1-POLE: 330Hz DECIMATION FILTR_BNK_0
fs FILTER FILTR_BNK_1
DIOx
OPTIONAL INPUT CLOCK
FNCTIO_CTRL[7] = 1
fs < 2400Hz
NOTES
1. WHEN FNCTIO_CTRL[7] = 1, EACH CLOCK PULSE ON THE DESIGNATED DIOx LINE (FNCTIO_CTRL[5:4]) STARTS A 4-SAMPLE BURST,
11855-018
AT A SAMPLE RATE OF 9.84kHz. THESE FOUR SAMPLES FEED INTO THE 4x AVERAGE/DECIMATION FILTER, WHICH PRODUCES A
DATA RATE THAT IS EQUAL TO THE INPUT CLOCK FREQUENCY.
Figure 20. Sampling and Frequency Response Signal Flow
FIR FILTER BANKS Filter Memory Organization
The ADIS16488A provides four configurable, 120-tap FIR filter Each filter bank uses two pages of the user register structure.
banks. Each coefficient is 16 bits wide and occupies its own See Table 60, Table 61, Table 62, and Table 63 for the register
register location for each page. When designing a FIR filter for addresses in each filter bank.
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 Table 60. Filter Bank A Memory Map
than 120 taps, load the coefficients into the lower portion of the Page PAGE_ID Address Register
filter and start with Coefficient 1. To prevent adding phase delay 5 0x05 0x00 PAGE_ID
to the response, ensure that all unused taps are equal to zero. 5 0x05 0x02 to 0x07 Not used
5 0x05 0x08 FIR_COEF_A000
The FILTR_BNK_x registers provide three bits per sensor,
5 0x05 0x0A FIR_COEF_A001
which configure the filter bank (A, B, C, D) and turn filtering
5 0x05 0x0C to 0x7C FIR_COEF_A002 to
on and off. For example, turn to Page 3 (DIN = 0x8003), then
FIR_COEF_A058
write 0x0057 to FILTR_BNK_0 (DIN = 0x9657, DIN = 0x9700)
5 0x05 0x7E FIR_COEF_A059
to set the x-axis gyroscope to use the FIR filter in Bank D, to set
6 0x06 0x00 PAGE_ID
the y-axis gyroscope to use the FIR filter in Bank B, and to
6 0x06 0x02 to 0x07 Not used
enable these FIR filters in both x- and y-axis gyroscopes. Note
6 0x06 0x08 FIR_COEF_A060
that the filter settings update after writing to the upper byte;
6 0x06 0x0A FIR_COEF_A061
therefore, always configure the lower byte first. In cases that
6 0x06 0x0C to 0x7C FIR_COEF_A062 to
require configuration to only the lower byte of either FIR_COEF_A118
FILTR_BNK_0 or FILTR_BNK_1, complete the process by 6 0x06 0x7E FIR_COEF_D119
writing 0x00 to the upper byte.
Table 61. Filter Bank B Memory Map
Table 58. FILTR_BNK_0 (Page 3, Base Address = 0x16)
Page PAGE_ID Address Register
7 0x07 0x00 PAGE_ID
15 Don’t care 7 0x07 0x02 to 0x07 Not used
14 Y-axis accelerometer filter enable (1 = enabled) 7 0x07 0x08 FIR_COEF_B000
[13:12] Y-axis accelerometer filter bank selection: 7 0x07 0x0A FIR_COEF_B001
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
7 0x07 0x0C to 0x7C FIR_COEF_B002 to
11 X-axis accelerometer filter enable (1 = enabled) FIR_COEF_B058
[10:9] X-axis accelerometer filter bank selection: 7 0x07 0x7E FIR_COEF_B059
8 0x08 0x00 PAGE_ID
8 Z-axis gyroscope filter enable (1 = enabled)
8 0x08 0x02 to 0x07 Not used
[7:6] Z-axis gyroscope filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 8 0x08 0x08 FIR_COEF_B060
5 Y-axis gyroscope filter enable (1 = enabled) 8 0x08 0x0A FIR_COEF_B061
[4:3] Y-axis gyroscope filter bank selection: 8 0x08 0x0C to 0x7C FIR_COEF_B062 to
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D FIR_COEF_B118
2 X-axis gyroscope filter enable (1 = enabled) 8 0x08 0x7E FIR_COEF_B119
[1:0] X-axis gyroscope filter bank selection: Table 62. Filter Bank C Memory Map
Page PAGE_ID Address Register
Table 59. FILTR_BNK_1 (Page 3, Base Address = 0x18) 9 0x09 0x00 PAGE_ID
Bits Description (Default = 0x0000) 9 0x09 0x02 to 0x07 Not used
[15:12] Don’t care 9 0x09 0x08 FIR_COEF_C000
11 Z-axis magnetometer filter enable (1 = enabled) 9 0x09 0x0A FIR_COEF_C001
[10:9] Z-axis magnetometer filter bank selection: 9 0x09 0x0C to 0x7C FIR_COEF_C002 to
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D FIR_COEF_C058
8 Y-axis magnetometer filter enable (1 = enabled) 9 0x09 0x7E FIR_COEF_C059
[7:6] Y-axis magnetometer filter bank selection: 10 0x0A 0x00 PAGE_ID
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 10 0x0A 0x02 to 0x07 Not used
5 X-axis magnetometer filter enable (1 = enabled) 10 0x0A 0x08 FIR_COEF_C060
[4:3] X-axis magnetometer filter bank selection: 10 0x0A 0x0A FIR_COEF_C061
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D 10 0x0A 0x0C to 0x7C FIR_COEF_C062 to
2 Z-axis accelerometer filter enable (1 = enabled) FIR_COEF_C118
[1:0] Z-axis accelerometer filter bank selection: 10 0x0A 0x7E FIR_COEF_C119
Table 63. Filter Bank D Memory Map Table 64. FIR Filter Descriptions, Default Configuration
Page PAGE_ID Address Register FIR Filter Bank Taps −3 dB Frequency (Hz)
11 0x0B 0x00 PAGE_ID A 120 310
11 0x0B 0x02 to 0x07 Not used B 120 55
11 0x0B 0x08 FIR_COEF_D000 C 32 275
11 0x0B 0x0A FIR_COEF_D001 D 32 63
11 0x0B 0x0C to 0x7C FIR_COEF_D002 to
FIR_COEF_D058
0
11 0x0B 0x7E FIR_COEF_D059
–10
12 0x0C 0x00 PAGE_ID NO FIR
FILTERING
12 0x0C 0x02 to 0x07 Not used –20
B D A C
12 0x0C 0x08 FIR_COEF_D060 –30
MAGNITUDE (dB)
12 0x0C 0x0A FIR_COEF_D061 –40
12 0x0C 0x0C to 0x7C FIR_COEF_D062 to –50
FIR_COEF_D118
–60
12 0x0C 0x7E FIR_COEF_D119
–70
Default Filter Performance
–80
The FIR filter banks have factory-programmed filter designs. They –90
are all low-pass filters that have unity dc gain. Table 64 provides
–100
a summary of each filter design, and Figure 21 shows the frequency
11855-019
0 200 400 600 800 1000 1200
response characteristics. The phase delay is equal to ½ of the total FREQUENCY (Hz)
number of taps. Figure 21. FIR Filter Frequency Response Curves
CALIBRATION
The ADIS16488A factory calibration produces correction Bias Null Command
formulas for the gyroscopes, accelerometers, magnetometers, and The continuous bias estimator (CBE) accumulates and
barometers, and then programs them into the flash memory. In averages data in a 64-sample FIFO. The average time (tA)
addition, there are a series of user configurable calibration for the bias estimates relies on the sample time base setting in
registers for in-system tuning. NULL_CNFG[3:0] (see Table 71). Using the bias null command in
GYROSCOPES GLOB_CMD[0] (see Table 115), load the correction factors of the
CBE into the gyroscope offset correction registers (see Table 65,
The user calibration for the gyroscopes includes registers for
Table 66, Table 67, Table 68, Table 69, and Table 70). On/off
adjusting bias and sensitivity, as shown in Figure 22.
controls for the sensors, provided by NULL_CNFG[13:8],
1 + X_GYRO_SCALE update when issuing a bias null command. The factory default
configuration for NULL_CNFG enables the bias null command
FACTORY
X-AXIS
GYRO
CALIBRATION
AND
X_GYRO_OUT X_GYRO_LOW for the gyroscopes, disables the bias null command for the accel-
FILTERING erometers, and establishes the average time to ~26.64 seconds.
11855-020
XG_BIAS_HIGH XG_BIAS_LOW
Table 71. NULL_CNFG (Page 3, Base Address = 0x0E)
Figure 22. User Calibration Signal Path, Gyroscopes Bits Description (Default = 0x070A)
Manual Bias Correction [15:14] Not used
13 Z-axis acceleration bias correction enable (1 = enabled)
The xG_BIAS_HIGH registers (see Table 65, Table 66, and
12 Y-axis acceleration bias correction enable (1 = enabled)
Table 67) and xG_BIAS_LOW registers (see Table 68, Table 69,
11 X-axis acceleration bias correction enable (1 = enabled)
and Table 70) provide a bias adjustment function for the output
10 Z-axis gyroscope bias correction enable (1 = enabled)
of each gyroscope sensor.
9 Y-axis gyroscope bias correction enable (1 = enabled)
Table 65. XG_BIAS_HIGH (Page 2, Base Address = 0x12) 8 X-axis gyroscope bias correction enable (1 = enabled)
Bits Description (Default = 0x0000) [7:4] Not used
[15:0] X-axis gyroscope offset correction, upper word [3:0] Time base control (TBC), range: 0 to 13 (default = 10);
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec tB = 2TBC/2460, time base
tA = 64 × tB, average time
Table 66. YG_BIAS_HIGH (Page 2, Base Address = 0x16) Turn to Page 3 (DIN = 0x8003) and set GLOB_CMD[0] = 1
Bits Description (Default = 0x0000) (DIN = 0x8201, then DIN = 0x8300) to update the user offset
[15:0] Y-axis gyroscope offset correction, upper word; registers with the correction factors of the CBE. Ensure that the
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec inertial platform is stable during the entire average time for optimal
bias estimates.
Table 67. ZG_BIAS_HIGH (Page 2, Base Address = 0x1A)
Bits Description (Default = 0x0000) Manual Sensitivity Correction
[15:0] Z-axis gyroscope offset correction, upper word; The x_GYRO_SCALE registers enable sensitivity adjustment
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec (see Table 72, Table 73, and Table 74).
Table 68. XG_BIAS_LOW (Page 2, Base Address = 0x10) Table 72. X_GYRO_SCALE (Page 2, Base Address = 0x04)
Bits Description (Default = 0x0000) Bits Description (Default = 0x0000)
[15:0] X-axis gyroscope offset correction, lower word; [15:0] X-axis gyroscope scale correction; twos complement,
twos complement, 0°/sec = 0x0000, 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052%
1 LSB = 0.02°/sec ÷ 216 = ~0.000000305°/sec
Table 73. Y_GYRO_SCALE (Page 2, Base Address = 0x06)
Table 69. YG_BIAS_LOW (Page 2, Base Address = 0x14)
[15:0] Y-axis gyroscope scale correction; twos complement,
[15:0] Y-axis gyroscope offset correction, lower word; 0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052%
twos complement, 0°/sec = 0x0000,
1 LSB = 0.02°/sec ÷ 216 = ~0.000000305°/sec Table 74. Z_GYRO_SCALE (Page 2, Base Address = 0x08)
Table 70. ZG_BIAS_LOW (Page 2, Base Address = 0x18)
[15:0] Z-axis gyroscope scale correction; twos complement,
0x0000 = unity gain, 1 LSB = 1 ÷ 215 = ~0.003052%
[15:0] Z-axis gyroscope offset correction, lower word
twos complement, 0°/sec = 0x0000,
1 LSB = 0.02°/sec ÷ 216 = ~0.000000305°/sec
Linear Acceleration on Effect on Gyroscope Bias Table 79. XA_BIAS_LOW (Page 2, Base Address = 0x1C)
MEMS gyroscopes typically have a bias response to linear Bits Description (Default = 0x0000)
acceleration that is normal to their axis of rotation. The [15:0] X-axis accelerometer offset correction, low word,
ADIS16488A offers an optional compensation function for this twos complement, 0 g = 0x0000,
1 LSB = 0.8 mg ÷ 216 = ~0.0000122 mg
effect; the factory default setting (0x00C0) for the CONFIG
register enables this function. To turn it off, turn to Page 3 (DIN Table 80. YA_BIAS_LOW (Page 2, Base Address = 0x20)
= 0x8003) and set CONFIG[7] = 0 (DIN = 0x8A40, DIN = Bits Description (Default = 0x0000)
0x8B00). Note that this also keeps the point of percussion [15:0] Y-axis accelerometer offset correction, low word,
alignment function enabled. twos complement, 0 g = 0x0000,
1 LSB = 0.8 mg ÷ 216 = ~0.0000122 mg
Table 75. CONFIG (Page 3, Base Address = 0x0A)
Bits Description (Default = 0x00C0) Table 81. ZA_BIAS_LOW (Page 2, Base Address = 0x24)
[15:8] Not used Bits Description (Default = 0x0000)
7 Linear-g compensation for gyroscopes (1 = enabled) [15:0] Z-axis accelerometer offset correction, low word;,
6 Point of percussion alignment (1 = enabled) twos complement, 0 g = 0x0000,
[5:2] Not used 1 LSB = 0.8 mg ÷ 216 = ~0.0000122 mg
1 Real-time clock, daylight savings time Manual Sensitivity Correction
(1: enabled, 0: disabled)
The x_ACCL_SCALE registers enable sensitivity adjustment
0 Real-time clock control
(see Table 82, Table 83, Table 84).
(1: relative/elapsed timer mode, 0: calendar mode)
Table 82. X_ACCL_SCALE (Page 2, Base Address = 0x0A)
ACCELEROMETERS Bits Description (Default = 0x0000)
The user calibration for the accelerometers includes registers for [15:0] X-axis accelerometer scale correction,
adjusting bias and sensitivity, as shown in Figure 23. twos complement, 0x0000 = unity gain,
1 LSB = 1 ÷ 215 = ~0.003052%
1 + X_ACCL_SCALE
Table 83. Y_ACCL_SCALE (Page 2, Base Address = 0x0C)
FACTORY
X-AXIS CALIBRATION X_ACCL_OUT X_ACCL_LOW Bits Description (Default = 0x0000)
ACCL AND
FILTERING [15:0] Y-axis accelerometer scale correction,
11855-021
twos complement, 0x0000 = unity gain,

XA_BIAS_HIGH XA_BIAS_LOW
1 LSB = 1 ÷ 215 = ~0.003052%
Figure 23. User Calibration Signal Path, Gyroscopes
Table 84. Z_ACCL_SCALE (Page 2, Base Address = 0x0E)
Manual Bias Correction Bits Description (Default = 0x0000)
The xA_BIAS_HIGH (see Table 76, Table 77, and Table 78) and [15:0] Z-axis accelerometer scale correction,
xA_BIAS_LOW (see Table 79, Table 80, and Table 81) registers twos complement, 0x0000 = unity gain,
provide a bias adjustment function for the output of each accel- 1 LSB = 1 ÷ 215 = ~0.003052%
erometer sensor. The xA_BIAS_HIGH registers use the same MAGNETOMETERS
format as x_ACCL_OUT registers. The xA_BIAS_LOW
The user calibration registers enable both hard iron and soft
registers use the same format as x_ACCL_LOW registers.
iron correction, as shown in the following relationship:
Table 76. XA_BIAS_HIGH (Page 2, Base Address = 0x1E)  M XC  1 + S11 S12 S13   M X  H X  
    
Bits Description (Default = 0x0000)  M YC  =  S21 1 + S22 S23  ×  M Y  +  H Y  
   S32 1 + S33  M Z   H Z  
[15:0] X-axis accelerometer offset correction, high word,  M ZC   S31
twos complement, 0 g = 0x0000, 1 LSB = 0.8 mg
where the MX, MY, and MZ variables represent the magnetometer
Table 77. YA_BIAS_HIGH (Page 2, Base Address = 0x22) data prior to application of the user correction formula, and the
Bits Description (Default = 0x0000) MXC, MYC, and MZC represent the magnetometer data after the
[15:0] Y-axis accelerometer offset correction, high word, application of the user correction formula.
Table 78. ZA_BIAS_HIGH (Page 2, Base Address = 0x26)

[15:0] Z-axis accelerometer offset correction, high word,
Hard Iron Correction Table 90. SOFT_IRON_S12 (Page 2, Base Address = 0x30)
Table 85, Table 86, and Table 87 describe the register format for Bits Description (Default = 0x0000)
the hard iron correction factors: HX, HY, and HZ. These registers [15:0] Magnetometer soft iron correction factor, S12,
use a twos complement format. Table 88 provides some numerical twos complement format, see Table 98 for examples
examples for converting the digital codes for these registers into Table 91. SOFT_IRON_S13 (Page 2, Base Address = 0x32)
their decimal equivalent.
Table 85. HARD_IRON_X (Page 2, Base Address = 0x28) [15:0] Magnetometer soft iron correction factor, S13,
twos complement format, see Table 98 for examples
[15:0] X-axis magnetometer hard iron correction factor, HX, Table 92. SOFT_IRON_S21 (Page 2, Base Address = 0x34)
twos complement, ±3.2767 gauss range,
0.1 mgauss/LSB, 0 gauss = 0x0000 (see Table 88) Bits Description (Default = 0x0000)
[15:0] Magnetometer soft iron correction factor, S21, twos
Table 86. HARD_IRON_Y (Page 2, Base Address = 0x2A) complement format, see Table 98 for examples
Table 93. SOFT_IRON_S22 (Page 2, Base Address = 0x36)
[15:0] Y-axis magnetometer hard iron correction factor, HY,
twos complement, ±3.2767 gauss range, Bits Description (Default = 0x0000)
0.1 mgauss/LSB, 0 gauss = 0x0000 (see Table 88) [15:0] Magnetometer soft iron correction factor, S22,
Table 87. HARD_IRON_Z (Page 2, Base Address = 0x2C)
Table 94. SOFT_IRON_S23 (Page 2, Base Address = 0x38)
[15:0] Z-axis magnetometer hard iron correction factor, Hz,
twos complement, ±3.2767 gauss range, [15:0] Magnetometer soft iron correction factor, S23,
0.1 mgauss/LSB, 0 gauss = 0x0000 (see Table 88) twos complement format, see Table 98 for examples
Table 88. HARD_IRON_x Numerical Examples Table 95. SOFT_IRON_S31 (Page 2, Base Address = 0x3A)
Magnetic Field Decimal Hex Binary Bits Description (Default = 0x0000)
+3.2767 gauss +32,767 0x7FFF 0111 1111 1111 1111 [15:0] Magnetometer soft-iron correction factor, S31,
+0.2 mgauss +2 0x0002 0000 0000 0000 0010 twos complement format, see Table 98 for examples
+0.1 mgauss +1 0x0001 0000 0000 0000 0001 Table 96. SOFT_IRON_S32 (Page 2, Base Address = 0x3C)
0 gauss 0 0x0000 0000 0000 0000 0000
−0.1 mgauss −1 0xFFFF 1111 1111 1111 1111
[15:0] Magnetometer soft iron correction factor, S32,
−0.2 mgauss −2 0xFFFE 1111 1111 1111 1110 twos complement format, see Table 98 for examples
−3.2768 gauss −32,768 0x8000 1000 0000 0000 0000
Soft Iron Correction Matrix Table 97. SOFT_IRON_S33 (Page 2, Base Address = 0x3E)
The soft iron correction matrix contains correction factors for
both sensitivity (S11, S22, S33) and alignment (S12, S13, S21, S23, S31, twos complement format, see Table 98 for examples
S32). The registers that represent each soft iron correction factor
are in Table 89 (S11), Table 90 (S12), Table 91 (S13), Table 92 (S21), Table 98. Soft Iron Correction, Numerical Examples
Table 93 (S22), Table 94 (S23), Table 95 (S31), Table 96 (S32), and Delta (%) Decimal Hex Binary
Table 97 (S33). Table 98 offers some numerical examples for +100 – 1/216 +32,767 0x7FFF 0111 1111 1111 1111
converting between the digital codes and their effect on the +200/215 +2 0x0002 0000 0000 0000 0010
magnetometer output, in terms of percent change. +100/215 +1 0x0001 0000 0000 0000 0001
0 0 0x0000 0000 0000 0000 0000
Table 89. SOFT_IRON_S11 (Page 2, Base Address = 0x2E)
−100/215 −1 0xFFFF 1111 1111 1111 1111
−200/215 −2 0xFFFE 1111 1111 1111 1110
−100 −32,768 0x8000 1000 0000 0000 0000
BAROMETERS RESTORING FACTORY CALIBRATION
The BR_BIAS_HIGH register (see Table 99) and BR_BIAS_LOW Turn to Page 3 (DIN = 0x8003) and set GLOB_CMD[6] = 1
register (Table 100) provide an offset control function and use (DIN = 0x8240, DIN = 0x8300) to execute the factory calibration
the same format as the output registers, BAROM_OUT and restore function. This function resets each user calibration register
BAROM_LOW. to 0, resets all sensor data to 0, and automatically updates the
flash memory within 72 ms. See Table 115 for more information
Table 99. BR_BIAS_HIGH (Page 2, Base Address = 0x42) on GLOB_CMD.
POINT OF PERCUSSION ALIGNMENT
[15:0] Barometric pressure bias correction factor, high word,
twos complement, ±1.3 bar measurement range, CONFIG[6] offers a point of percussion alignment function
0 bar = 0x0000, 1 LSB = 40 µbar that maps the accelerometer sensors to the corner of the package
identified in Figure 24. To activate this feature, turn to Page 3
Table 100. BR_BIAS_LOW (Page 2, Base Address = 0x40) (DIN = 0x8003), then set CONFIG[6] = 1 (DIN = 0x8A40,
Bits Description (Default = 0x0000) DIN = 0x8B00). See Table 75 for more information on the
[15:0] Barometric pressure bias correction factor, low word, CONFIG register.
twos complement, ±1.3 bar measurement range,
0 bar = 0x0000, 1 LSB = 40 µbar ÷ 216 = ~0.00061 µbar
PIN 23
PIN 1
11855-022
POINT OF PERCUSSION
ALIGNMENT REFERENCE POINT.
SEE CONFIG[6].
Figure 24. Point of Percussion Reference Point
ALARMS
Each sensor has an independent alarm function that provides
controls for alarm magnitude, polarity, and enabling a dynamic Table 108. YM_ALM_MAGN (Page 3, Base Address = 0x36)
rate-of-change option. The ALM_STS register (see Table 50) Bits Description (Default = 0x0000)
contains the alarm output flags and the FNCTIO_CTRL register [15:0] Y-axis magnetometer alarm threshold settings,
twos complement, 0 gauss = 0x0000,
(see Table 118) provides an option for configuring one of the
1 LSB = 0.1 mgauss
digital input/output lines as an alarm indicator.
STATIC ALARM USE Table 109. ZM_ALM_MAGN (Page 3, Base Address = 0x38)
The static alarm setting compares the output of each sensor
[15:0] Z-axis magnetometer alarm threshold settings,
with the trigger settings in the xx_ALM_MAGN registers (see twos complement, 0 gauss = 0x0000,
Table 101 through Table 110) of that sensor. 1 LSB = 0.1 mgauss
Table 101. XG_ALM_MAGN (Page 3, Base Address = 0x28) Table 110. BR_ALM_MAGN (Page 3, Base Address = 0x3A)
Bits Description (Default = 0x0000) Bits Description (Default = 0x0000)
[15:0] X-axis gyroscope alarm threshold settings, [15:0] Z-axis barometer alarm threshold settings,
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec twos complement, 0 bar = 0x0000, 1 LSB = 40 µbar
Table 102. YG_ALM_MAGN (Page 3, Base Address = 0x2A) Static Alarm Polarity Controls
Bits Description (Default = 0x0000) The alarm polarity settings, located in the ALM_CNFG_x
[15:0] Y-axis gyroscope alarm threshold settings, registers (see Table 111 to Table 113), establish the relationship
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec for the condition that causes the corresponding alarm flag to be
active. For example, when ALM_CNFG_0[13] = 1, the alarm
Table 103. ZG_ALM_MAGN (Page 3, Base Address = 0x2C)
flag for the x-axis accelerometer (ALM_STS[3], see Table 50)
becomes active (equal to 1) when X_ACCL_OUT is greater
[15:0] Z-axis gyroscope alarm threshold settings, than XA_ALM_MAGN.
twos complement, 0°/sec = 0x0000, 1 LSB = 0.02°/sec
Table 111. ALM_CNFG_0 (Page 3, Base Address = 0x20)
Table 104. XA_ALM_MAGN (Page 3, Base Address = 0x2E)
15 X-axis accelerometer alarm (1 = enabled)
[15:0] X-axis accelerometer alarm threshold settings,
twos complement, 0 g = 0x0000, 1 LSB = 0.8 mg 14 Not used
13 X-axis accelerometer alarm polarity (1 = greater than)
Table 105. YA_ALM_MAGN (Page 3, Base Address = 0x30) 12 X-axis accelerometer dynamic enable (1 = enabled)
Bits Description (Default = 0x0000) 11 Z-axis gyroscope alarm (1 = enabled)
[15:0] Y-axis accelerometer alarm threshold settings, 10 Not used
twos complement, 0 g = 0x0000, 1 LSB = 0.8 mg 9 Z-axis gyroscope alarm polarity (1 = greater than)
8 Z-axis gyroscope dynamic enable (1 = enabled)
Table 106. ZA_ALM_MAGN (Page 3, Base Address = 0x32) 7 Y-axis gyroscope alarm (1 = enabled)
Bits Description (Default = 0x0000) 6 Not used
[15:0] Z-axis accelerometer alarm threshold settings, 5 Y-axis gyroscope alarm polarity (1 = greater than)
4 Y-axis gyroscope dynamic enable (1 = enabled)
Table 107. XM_ALM_MAGN (Page 3, Base Address = 0x34) 3 X-axis gyroscope alarm (1 = enabled)
Bits Description (Default = 0x0000) 2 Not used
1 X-axis gyroscope alarm polarity (1 = greater than)
[15:0] X-axis magnetometer alarm threshold settings,
twos complement, 0 gauss = 0x0000, 0 X-axis gyroscope dynamic enable (1 = enabled)
1 LSB = 0.1 mgauss
Table 112. ALM_CNFG_1 (Page 3, Base Address = 0x22) DYNAMIC ALARM USE
The dynamic alarm setting provides the option to compare the
15 Y-axis magnetometer alarm (1 = enabled)
change in the output of each sensor over a period of 48.7 ms with
14 Not used
that sensor’s xx_ALM_MAGN register.
13 Y-axis magnetometer alarm polarity (1 = greater than)
12 Y-axis magnetometer dynamic enable (1 = enabled) Alarm Example
11 X-axis magnetometer (1 = enabled) Table 114 offers an alarm configuration example, which sets the
10 Not used z-axis gyroscope alarm to trip when Z_GYRO_OUT > 131.1°/sec
9 X-axis magnetometer alarm polarity (1 = greater than) (0x199B).
8 X-axis magnetometer dynamic enable (1 = enabled)
7 Z-axis accelerometer alarm (1 = enabled) Table 114. Alarm Configuration Example
6 Not used DIN Description
5 Z-axis accelerometer alarm polarity (1 = greater than) 0xAC9B Set ZG_ALM_MAGN[7:0] = 0x9B
4 Z-axis accelerometer dynamic enable (1 = enabled) 0xAD19 Set ZG_ALM_MAGN[15:8] = 0x19
3 Y-axis accelerometer alarm (1 = enabled) 0xA000 Set ALM_CNFG_0[7:0] = 0x00
2 Not used 0xA103 Set ALM_CNFG_0[15:8] = 0x03
1 Y-axis accelerometer alarm polarity (1 = greater than)
0 Y-axis accelerometer dynamic enable (1 = enabled)
Table 113. ALM_CNFG_2 (Page 3, Base Address = 0x24)

[15:8] Not used
7 Barometer alarm (1 = enabled)
6 Not used
5 Barometer alarm polarity (1 = greater than)
4 Barometer dynamic enable (1 = enabled)
3 Z-axis magnetometer alarm (1 = enabled)
2 Not used
1 Z-axis magnetometer alarm polarity (1 = greater than)
0 Z-axis magnetometer dynamic enable (1 = enabled)
SYSTEM CONTROLS
The ADIS16488A provides a number of system level controls for MEMORY MANAGEMENT
managing its operation, which include reset, self test, calibration, The data retention of the flash memory depends on temperature
memory management, and input/output configuration. and the number of write cycles. Figure 25 characterizes the
GLOBAL COMMANDS dependence on temperature, and the FLSHCNT_LOW and
The GLOB_CMD register (see Table 115) provides trigger bits for FLSHCNT_HIGH registers (see Table 116 and Table 117)
several operations. Write 1 to the appropriate bit in GLOB_CMD to provide a running count of flash write cycles. The flash updates
start a function. After the function completes, the bit restores to 0. every time GLOB_CMD[6], GLOB_CMD[3], or GLOB_CMD[0]
is set to 1.
Table 115. GLOB_CMD (Page 3, Base Address = 0x02)
Table 116. FLSHCNT_LOW (Page 2, Base Address = 0x7C)
Bits Description Execution Time
Bits Description
[15:8] Not used Not applicable
7 Software reset 120 ms [15:0] Binary counter; number of flash updates, lower word
6 Factory calibration restore 75 ms Table 117. FLSHCNT_HIGH (Page 2, Base Address = 0x7E)
[5:4] Not used Not applicable
Bits Description
3 Flash memory update 375 ms
[15:0] Binary counter; number of flash updates, upper word
2 Flash memory test 50 ms
1 Self test 12 ms
0 Bias null See Table 71 600
Software Reset
Turn to Page 3 (DIN = 0x8003) and then set GLOB_CMD[7] = 1 RETENTION (Years)
450
(DIN = 0x8280, DIN = 0x8300) to reset the operation, which
removes all data, initializes all registers from their flash settings,
and starts data collection. This function provides a firmware 300
alternative to the RST pin (see Table 6, Pin 8).

Automatic Self-Test 150
Turn to Page 3 (DIN = 0x8003) and then set GLOB_CMD[1] = 1

(DIN = 0x8202, then DIN = 0x8300) to run an automatic self 0
11855-023
30 40 55 70 85 100 125 135 150
test routine, which executes the following steps: JUNCTION TEMPERATURE (°C)
1. Measure the output on each sensor. Figure 25. Flash Memory Retention
2. Activate the self test on each sensor.
Flash Memory Test
3. Measure the output on each sensor.
4. Deactivate the self test on each sensor. Turn to Page 3 (DIN = 0x8003), and then set GLOB_CMD[2] = 1
5. Calculate the difference with self test on and off. (DIN = 0x8204, DIN = 0x8300) to run a checksum test of the
6. Compare the difference with internal pass/fail criteria. internal flash memory, which compares a factory programmed
7. Report the pass/fail results for each sensor in DIAG_STS. value with the current sum of the same memory locations. The
result of this test loads into SYS_E_FLAG[6]. Turn to Page 0
After waiting 12 ms for this test to complete, turn to Page 0 (DIN = 0x8000) and use DIN = 0x0800 to read SYS_E_FLAG.
(DIN = 0x8000) and read DIAG_STS using DIN = 0x0A00.
Using an external clock can extend this time. When using an GENERAL-PURPOSE INPUT/OUTPUT
external clock of 100 Hz, this time extends to 35 ms. Note that There are four general-purpose input/output pins: DIO1, DIO2,
100 Hz is too slow for optimal sensor performance. DIO3, and DIO4. The FNCTIO_CTRL register controls the basic
function of each input/output pin, which provides a number of
useful functions. Each input/output pin only supports one function
at a time. In cases where a single pin has two different assignments,
the enable bit for the lower priority function automatically resets to
zero and is disabled. The priority is (1) data ready, (2) sync clock
input, (3) alarm indicator, and (4) general purpose, where 1
identifies the highest priority and 4 indicates the lowest priority.
Table 118. FNCTIO_CTRL (Page 3, Base Address = 0x06) Table 119. GPIO_CTRL (Page 3, Base Address = 0x08)
Bits Description (Default = 0x000D) Bits Description (Default = 0x00X0)1
[15:12] Not used [15:8] Don’t care
11 Alarm indicator: 1 = enabled, 0 = disabled 7 General-Purpose input/output Line 4 (DIO4) data level
10 Alarm indicator polarity: 1 = positive, 0 = negative 6 General-Purpose input/output Line 3 (DIO3) data level
[9:8] Alarm indicator line selection: 5 General-Purpose input/output Line 2 (DIO2) data level
00 = DIO1, 01 = DIO2, 10 = DIO3, 11 = DIO4 4 General-Purpose input/output Line 1 (DIO1) data level
7 Sync clock input enable: 1 = enabled, 0 = disabled 3 General-Purpose input/output Line 4 (DIO4) direction
6 Sync clock input polarity: control (1 = output, 0 = input)
1 = rising edge, 0 = falling edge 2 General-Purpose input/output Line 3 (DIO3) direction
[5:4] Sync clock input line selection: control (1 = output, 0 = input)
00 = DIO1, 01 = DIO2, 10 = DIO3, 11 = DIO4 1 General-Purpose input/output Line 2 (DIO2) direction
3 Data-ready enable: 1 = enabled, 0 = disabled control (1 = output, 0 = input)
2 Data ready polarity: 1 = positive, 0 = negative 0 General-Purpose input/output Line 1 (DIO1) direction
[1:0] Data ready line selection: control (1 = output, 0 = input)
00 = DIO1, 01 = DIO2, 10 = DIO3, 11 = DIO4 1
The GPIO_CTRL[7:4] bits reflect the logic levels on the DIOx lines and do not
Data-Ready Indicator have a default setting.
FNCTIO_CTRL[3:0] provide some configuration options for POWER MANAGEMENT

using one of the DIOx lines as a data ready indicator signal, The SLP_CNT register (see Table 120) provides controls for
which can drive the interrupt control line of a processor. The both power-down mode and sleep modes. The trade-off between
factory default assigns DIO2 as a positive polarity, data ready power-down mode and sleep mode is between idle power and
signal. Use the following sequence to change this assignment to recovery time. Power-down mode offers the best idle power
DIO1 with a negative polarity: turn to Page 3 (DIN = 0x8003) consumption but requires the most time to recover. In addition,
and set FNCTIO_CTRL[3:0] = 1000 (DIN = 0x8608, then DIN = all volatile settings are lost during power-down but are preserved
0x8700). The timing jitter on the data ready signal is ±1.4 µs. during sleep mode.
Input Sync/Clock Control For timed sleep mode, turn to Page 3 (DIN = 0x8003), write the
FNCTIO_CTRL[7:4] provide some configuration options for amount of sleep time to SLP_CNT[7:0] and then, set SLP_CNT[8]
using one of the DIOx lines as an input synchronization signal = 1 (DIN = 0x9101) to start the sleep period.
for sampling inertial sensor data. For example, use the following For a timed power-down period, change the last command to set
sequence to establish DIO4 as a positive polarity, input clock pin SLP_CNT[9] = 1 (DIN = 0x9102).
and keep the factory default setting for the data ready function:
To power down or sleep for an indefinite period, set
turn to Page 3 (DIN = 0x8003) and set FNCTIO_CTRL[7:0] =
SLP_CNT[7:0] = 0x00 first, then set either SLP_CNT[8] or
0xFD (DIN = 0x86FD, then DIN = 0x8700). Note that this
SLP_CNT[9] to 1. Note that the command takes effect when the
command also disables the internal sampling clock, and no
CS line goes high.
data sampling occurs without the input clock signal. When
selecting a clock input frequency, consider the 330 Hz sensor To awaken the device from sleep or power-down mode, use one of
bandwidth because undersampling the sensors can degrade the following options to restore normal operation:
noise and stability performance.
• Assert CS from high to low.
General-Purpose Input/Output Control • Pulse RST low, then high again.
When FNCTIO_CTRL does not configure a DIOx pin, • Cycle the power.
GPIO_CTRL provides register controls for general-purpose use
For example, set SLP_CNT[7:0] = 0x64 (DIN = 0x9064), then
of the pin. GPIO_CTRL[3:0] provides input/output assignment
set SLP_CNT[8] = 1 (DIN = 0x9101) to start a sleep period of
controls for each line. When the DIOx lines are inputs, monitor
100 seconds. If the sleep mode and power-down mode bits are
their level by reading GPIO_CTRL[7:4]. When the DIOx lines
both set high, the normal sleep mode bit (SLP_CNT[8]) takes
are used as outputs, set their level by writing to GPIO_CTRL[7:4].
precedence.
For example, use the following sequence to set DIO1 and
DIO3 as high and low output lines, respectively, and set DIO2 Table 120. SLP_CNT (Page 3, Base Address = 0x10)
and DIO4 as input lines. Turn to Page 3 (DIN = 0x8003) and set Bits Description
GPIO_CTRL[7:0] = 0x15 (DIN = 0x8815, then DIN = 0x8900). [15:10] Not used
9 Power-down mode
8 Normal sleep mode
[7:0] Programmable time bits; 1 sec/LSB; 0x00 = indefinite
General-Purpose Registers The real-time clock registers reflect the newly updated
The USER_SCR_x registers (see Table 121, Table 122, Table 123, values only after the next seconds tick of the clock that
and Table 124) provide four 16-bit registers for storing data. follows the write to TIME_YM_OUT[14:8] (year). Writing to
TIME_YM_OUT[14:8] activates all timing values; therefore,
Table 121. USER_SCR_1 (Page 2, Base Address = 0x74) always write to this location last when updating the timer, even
Bits Description if the year information does not require updating.
[15:0] User defined Write the current time to each time data register after setting
CONFIG[0] = 1 (DIN = 0x8003, DIN = 0x8A01). Note that
Table 122. USER_SCR_2 (Page 2, Base Address = 0x76)
CONFIG[1] provides a bit for managing daylight savings time.
Bits Description
After the CONFIG and TIME_xx_OUT registers are configured,
[15:0] User defined
set GLOB_CMD[3] = 1 (DIN = 0x8003, DIN = 0x8204, DIN =
Table 123. USER_SCR_3 (Page 2, Base Address = 0x78) 0x8300) to back up these settings in flash, and use a separate
Bits Description 3.3 V source to supply power to the VDDRTC function. Note
[15:0] User defined that access to time data in the TIME_xx_OUT registers requires
normal operation (VDD = 3.3 V and full startup), but the timer
Table 124. USER_SCR_4 (Page 2, Base Address = 0x7A) function only requires that VDDRTC = 3.3 V when the remainder
Bits Description of the ADIS16488A is turned off.
[15:0] User defined
Table 125. TIME_MS_OUT (Page 0, Base Address = 0x78)
Real-Time Clock Configuration/Data Bits Description
The VDDRTC power supply pin (see Table 6, Pin 23) provides [15:14] Not used
a separate supply for the real-time clock (RTC) function. This [13:8] Minutes, binary data, range = 0 to 59
enables the RTC to keep track of time, even when the main supply [7:6] Not used
(VDD) is off. [5:0] Seconds, binary data, range = 0 to 59
Configure the RTC function by selecting one of two modes in
Table 126. TIME_DH_OUT (Page 0, Base Address = 0x7A)
CONFIG[0] (see Table 75). The real-time clock data is available
Bits Description
in the TIME_MS_OUT register (see Table 125), TIME_DH_OUT
[15:13] Not used
register (see Table 126), and TIME_YM_OUT register (see
[12:8] Day, binary data, range = 1 to 31
Table 127). When using the elapsed timer mode, the time data
[7:6] Not used
registers start at 0x0000 when the device starts up (or resets)
[5:0] Hours, binary data, range = 0 to 23
and begin keeping time in a manner that is similar to a stop-
watch. Table 127. TIME_YM_OUT (Page 0, Base Address = 0x7C)
When using the clock/calendar mode, write the current time to Bits Description
the real-time registers in the following sequence: seconds (TIME_ [15] Not used
MS_OUT[5:0]), minutes (TIME_ MS_OUT[13:8]), hours [14:8] Year, binary data, range = 0 to 99, relative to 2000 A.D.
(TIME_DH_OUT[5:0]), day (TIME_DH_OUT[12:8]), month [7:4] Not used
(TIME_YM_OUT[3:0]), and year (TIME_YM_OUT[14:8]). The [3:0] Month, binary data, range = 1 to 12
updates to the timer only become active after a write is completed
correctly to the TIME_YM_OUT[14:8] byte.
APPLICATIONS INFORMATION
MOUNTING BEST PRACTICES
MOUNTING SCREWS
M2 × 0.4mm, 4×
WASHERS (OPTIONAL)
M2, 4×
ADIS16488A
SPACERS/WASHERS
SUGGESTED, 4×
PCB
MATING CONNECTOR
CLM-112-02
PASS-THROUGH HOLES
DIAMETER ≥ 2.85mm
WASHERS (OPTIONAL)
M2, 4×
11855-133
NUTS
M2 × 0.4mm, 4×
Figure 26. Mounting Example
For best performance, follow these simple rules when installing 39.600 BSC
the ADIS16488A into a system: 19.800 BSC

PASS-THROUGH HOLE
1. Eliminate opportunity for translational force (x- and y-axis FOR MOUNTING SCREWS
direction, per Figure 6) application on the electrical connector. DIAMETER OF THE HOLE
MUST ACCOMODATE
2. Isolate mounting force to the four corners, on the portion DIMENSIONAL TOLERANCE
BETWEEN THE CONNECTOR
AND HOLES.
of the package surface that surrounds the mounting holes.
3. Use uniform mounting forces on all four corners. The DEVICE
42.600
OUTLINE
suggested torque setting is 40 inch-ounces (0.285 N-m).
These three rules help prevent irregular force profiles, which
21.300 BSC
1.642 BSC
0.560 BSC 2×
ALIGNMENT HOLES
can warp the package and introduce bias errors in the sensors. FOR MATING SOCKET
Figure 26 provides an example that leverages washers to set the
package off the mounting surface and uses 2.85 mm pass-through
holes and backside washers/nuts for attachment. Figure 27 and
Figure 28 provide some details for mounting hole and connector 5 BSC 5 BSC
alignment pin drill locations. NOTES

1. ALL DIMENSIONS IN mm UNITS.
11855-025
2. IN THIS CONFIGURATION, THE CONNECTOR IS FACING DOWN AND

For more information on mounting the ADIS16488A, see the ITS PINS ARE NOT VISIBLE.
AN-1295 Application Note. Figure 27. Suggested PCB Layout Pattern, Connector Down
0.4334 [11.0]
T
0.019685
[0.5000] 0.0240 [0.610]
(TYP)
0.054 [1.37]
0.1800
0.0394 [1.00] [4.57]
CURRENT
0.0394 [1.00]
0.022± DIA (TYP)
11855-026
NONPLATED 0.022 DIA THRU HOLE (TYP)
THRU HOLE 2× NONPLATED THRU HOLE
Figure 28. Suggested Layout and Mechanical Design When Using Samtec 4
P/N CLM-112-02-G-D-A for the Mating Connector
EVALUATION TOOLS
11855-128
1.00ms 1.00MS/s CH1 2.72V
CH4 100mA Ω T 9.800% 1M POINTS
Breakout Board, ADIS16IMU1/PCBZ
Figure 29. Transient Current Demand, Start Up
The ADIS16IMU1/PCBZ (sold separately) provides a breakout
board function for the ADIS16488A, which means that it provides T
VDD
access to the ADIS16488A through larger connectors that support
standard 1 mm ribbon cabling. It also provides four mounting 1
holes for attachment of the ADIS16488A to the breakout board.
PC-Based Evaluation, EVAL-ADIS2
Use the EVAL-ADIS2 and the ADIS16IMU1/PCBZ to evaluate
the ADIS16488A on a PC-based platform.
POWER SUPPLY CONSIDERATIONS
CURRENT
The ADIS16488A has approximately 24 μF of capacitance across 4
the VDD and GND pins. Whereas this capacitor bank provides a
large amount of localized filtering, it also presents an opportunity
11855-129
CH1 2.00V 100ms/DIV
for excessive charging current when the VDD voltage ramps too CH4 100mA Ω
quickly. Use the following relationship to help determine the Figure 30. Transient Current Demand, Peak Demand
appropriate VDD voltage profile, with respect to any current-limit
functions that can cause the power supply to lose regulation and X-RAY SENSITIVITY
potentially introduce unsafe conditions for the ADIS16488A. Exposure to high dose rate X-rays, such as those in production
systems that inspect solder joints in electronic assemblies, can
i(t ) = C dV dt affect accelerometer bias errors. For optimal performance, avoid
In addition to managing the initial voltage ramp, take note of the exposing the ADIS16488A to this type of inspection.
transient current demand that the ADIS16488A requires during its
start-up/self initialization process. When VDD reaches 2.85 V, the
ADIS16488A begins its start-up process. Figure 29 offers a broad
perspective that shows when to expect the spikes in current,
whereas Figure 30 provides more detail on the current/time
behavior during the peak transient condition, which typically
occurs approximately 350 ms after VDD reaches 2.85 V.
OUTLINE DIMENSIONS
44.254
44.000
43.746 39.854
39.600
39.346 2.20 BSC
20.10 (8 PLACES)
19.80
19.50
Ø 2.40 BSC 15.00 DETAIL A
(4 PLACES)
BSC
1.942
PIN 1 1.642
1.342
8.25
BSC
42.854
42.600 1.00 BSC
42.346
47.254
47.000
46.746 DETAIL A
BOTTOM VIEW
14.254
DETAIL B
14.000 FRONT VIEW
13.746
6.50 BSC
3.454
3.200 5.50 5.50
2.946 BSC BSC
2.84 BSC
1.00 BSC 0.30 SQ BSC
12-07-2012-E
PITCH DETAIL B
Figure 31. 24-Lead Module with Connector Interface [MODULE]

(ML-24-6)
Dimensions shown in millimeters
ORDERING GUIDE
Model1 Temperature Range Package Description Package Option
ADIS16488BMLZ −40°C to +105°C 24-Lead Module with Connector Interface [MODULE] ML-24-6
ADIS16488CMLZ −55°C to +105°C 24-Lead Module with Connector Interface [MODULE] ML-24-6
1
Z = RoHS Compliant Part.
©2014–2018 Analog Devices, Inc. All rights reserved. Trademarks and

registered trademarks are the property of their respective owners.
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Tactical Grade,

Ten Degrees of Freedom Inertial Sensor

11/2016—Rev. C to Rev. D 5/2014—Rev. 0 to Rev. A

8/2015—Rev. B to Rev. C 1/2014—Revision 0: Initial Version

Table 3. Register Specific Stall Times

tCS tCHS tCLS

tDSU tDHD tDF

Figure 2. SPI Timing and Sequence

Figure 3. Stall Time and Data Rate

Figure 4. Input Clock Timing Diagram

ABSOLUTE MAXIMUM RATINGS

PIN CONFIGURATION AND FUNCTION DESCRIPTIONS

Table 6. Pin Function Descriptions

TYPICAL PERFORMANCE CHARACTERISTICS

BIAS ERROR (°/sec)

SENSITIVITY ERROR (% FS)

shown in Figure 13.

Figure 13. SPI Communication Bit Sequence

DEVICE CONFIGURATION MANUAL

DIN DIN = 0111 1110 0000 0000 = 0x7E00

DOUT = 0100 0000 0110 1000 = 0x4068 = 16,488 (PROD_ID)

Figure 17. SPI Read Example, Second 16-Bit Sequence

OUTPUT DATA REGISTERS

X-AXIS GYROSCOPE DATA −0.04°/sec −2 0xFFFE 1111 1111 1111 1110

Figure 19. Inertial Sensor Direction Reference Diagram

digital coding examples. Note that this temperature reflects a

DIGITAL SIGNAL PROCESSING

Figure 20. Sampling and Frequency Response Signal Flow

number of taps. Figure 21. FIR Filter Frequency Response Curves

twos complement, 0x0000 = unity gain,

Table 78. ZA_BIAS_HIGH (Page 2, Base Address = 0x26)

Figure 24. Point of Percussion Reference Point

Table 113. ALM_CNFG_2 (Page 3, Base Address = 0x24)

alternative to the RST pin (see Table 6, Pin 8).

Turn to Page 3 (DIN = 0x8003) and then set GLOB_CMD[1] = 1

FNCTIO_CTRL[3:0] provide some configuration options for POWER MANAGEMENT

Figure 26. Mounting Example

the ADIS16488A into a system: 19.800 BSC

alignment pin drill locations. NOTES

2. IN THIS CONFIGURATION, THE CONNECTOR IS FACING DOWN AND

1.00 BSC 0.30 SQ BSC

Figure 31. 24-Lead Module with Connector Interface [MODULE]

©2014–2018 Analog Devices, Inc. All rights reserved. Trademarks and

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