MAX21000+_技术文档

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

● OIS Suitability

General Description

•ꢀ MinimumꢀPhaseꢀDelayꢀ(~3ºꢀatꢀ10Hz)

•ꢀ HighꢀBandwidthꢀ(400Hz)

•ꢀ HighꢀODRꢀ(10kHz)

•ꢀ LowꢀNoiseꢀ(9mdps/√Hzꢀtyp)

• Four Different FS in OIS Mode:

±31.25/±62.50/±125/±250 dps

The MAX21000 is a low power, low noise, 3-axis angular

rate sensor that delivers unprecedented accuracy and

sensitivity over temperature and time. It operates with

a supply voltage as low as 1.71V for minimum power

consumption. It includes a sensing element and an IC

interface that provides the measured angular rate to the

2

external world through a digital interface (I C/SPI).

● Unprecedented Accuracy and Stability

•ꢀ EmbeddedꢀDigital-OutputꢀTemperatureꢀSensor

• Automatic Temperature Compensation

• Ultra-Stable Over Temperature and Time

• Factory Calibrated

The IC has a full scale of ±31.25/±62.50/±125/±250/

±500/±1k/±2k degrees per second (dps) and measures

rates with a finely tunable user-selectable bandwidth. The

high ODR and the large BW, the low noise at highest FS,

together with the low phase delay, make the IC suitable

for both user interface (UI) and optical image stabilization

(OIS) applications.

●

High-SpeedꢀInterface

2

• I CꢀStandardꢀ(100kHz),ꢀFastꢀ(400kHz),ꢀand

High-Speedꢀ(3.4MHz)ꢀSerialꢀInterface

•ꢀ 10MHzꢀSPIꢀInterface

• Reduces AP Load

The IC is a highly integrated solution available in a com-

pact 3mm x 3mm x 0.9mm plastic land grid array (LGA)

package and does not require any external components

other than supply bypass capacitors. It can operate over

the -40ºC to +85ºC temperature range.

•ꢀ EnablesꢀUI/OISꢀSerialꢀInterfaceꢀMultiplexing

●

FlexibleꢀEmbeddedꢀFIFO

• Size: 512bytes (256 x 16 bits)

• Single-Byte Reading Available

• Four Different FIFO Modes Available

• Reduces AP Load

Applications

●ꢀ Motion Control with MMI (Man-Machine Interface)

●ꢀ NoꢀTouchꢀUI

●ꢀ GPSꢀNavigationꢀSystems

HighꢀConfigurability

• Integrated Digitally Programmable Low- and

●ꢀ AppliancesꢀandꢀRobotics

HighpassꢀFilters

●ꢀ Motion-EnabledꢀGameꢀControllers

●ꢀ Motion-BasedꢀPortableꢀGaming

●ꢀ Motion-Basedꢀ3DꢀMouseꢀandꢀ3DꢀRemoteꢀControls

●ꢀ HealthꢀandꢀSportsꢀMonitoring

●ꢀ Optical Image Stabilization

• Independently Selectable Data ODR and Interrupt

ODR

• 7 Selectable Full Scales (31.25/62.5/125/250/500/

1000/2000 dps)

• 256 Selectable ODR

Ordering Information appears at end of data sheet.

● Flexible Interrupt Generator

For related parts and recommended products to use with this part, refer

to www.maximintegrated.com/MAX21000.related.

• Two Digital Output Lines

• 2 Independent Interrupt Generators

•ꢀ 8ꢀMaskableꢀInterruptꢀSourcesꢀEach

• Configurable as Latched/Unlatched/Timed

•ꢀ EmbeddedꢀIndependentꢀAngularꢀRateꢀComparators

• Independent Threshold and Duration

• Level/Pulse and OD/PP Options Available

Beneﬁts and Features

● Minimum Overall Footprint

• Industry’s Smallest and Thinnest Package for

Portable Devices (3mm x 3mm x 0.9mm LGA)

•ꢀ Noꢀexternalꢀcomponents

● Flexible Data Synchronization Pin

•ꢀ ExternalꢀWakeup

●ꢀ UniqueꢀLow-PowerꢀCapabilities

• Low Operating Current Consumption (5.4mA typ)

•ꢀ EcoꢀModeꢀAvailableꢀatꢀ100Hzꢀwithꢀ3.0mAꢀ(typ)

• 1.71V (min) Supply Voltage

• Interrupt Generation

• Single Data Capture Trigger

• Multiple Data Capture Trigger

• LSB Data Mapping

• Standby Mode Current 2.7mA (typ)

• 9µA (typ) Power-Down Mode Current

•ꢀ HighꢀPSRRꢀandꢀDC-DCꢀConverterꢀOperation

• 45ms Turn-On Time from Power-Down Mode

• 5ms Turn-On Time from Standby Mode

●

Uniqueꢀ48-BitꢀSerialꢀNumberꢀasꢀDieꢀID

High-ShockꢀSurvivabilityꢀ(10,000ꢀG-Shock)

19-6567; Rev 1; 2/13

MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Absolute Maximum Ratings

V

.......................................................................-0.3V to +6.0V

I

Continuous Current..............................................100mA

DD

VDDIO

V

.....................................-0.3V to Min (V

+ 0.3V, +6.0V)

Junction Temperature......................................................+150ºC

Operating Temperature Range............................-40ºC to +85ºC

Storage Temperature Range.............................-40ºC to +150ºC

Lead Temperature (soldering, 10s) .................................+260ºC

DDIO

DD

INT1,ꢀINT2,ꢀSDA_SDI_O,ꢀSA0_SDO,ꢀ

SCL_CLK,ꢀCS,ꢀDSYNC.....................-0.3V to (V

+ 0.3V)

DDIO

I

Continuous Current .................................................100mA

VDD

Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent damage to the device. These are stress ratings only, and functional operation of the device at these

or any other conditions beyond those indicated in the operational sections of the specifications is not implied. Exposure to absolute maximum rating conditions for extended periods may affect

device reliability.

Drops onto hard surfaces can cause shocks of greater than 10,000 g and can exceed the absolute maximum rating of the device. Exercise care in handling to avoid damage.

(Note 1)

Package Thermal Characteristics

LGA

Junction-to-CaseꢀThermalꢀResistanceꢀ(θ )........... 31.8°C/W

Junction-to-AmbientꢀThermalꢀResistanceꢀ(θ ) ........... 160°C/W

JA

JC

Note 1:ꢀ PackageꢀthermalꢀresistancesꢀwereꢀobtainedꢀusingꢀtheꢀmethodꢀdescribedꢀinꢀJEDECꢀspecificationꢀJESD51-7,ꢀusingꢀaꢀfour-layerꢀ

board. For detailed information on package thermal considerations, refer to www.maximintegrated.com/thermal-tutorial.

Electrical Characteristics

(V

= V

ꢀ=ꢀ2.5V,ꢀINT1,ꢀINT2,ꢀT = -40°C to +85°C, SDA and SCL are unconnected, unless otherwise noted. Typical values are

DD

DDIO A

at T = +25°C).

A

PARAMETER

SUPPLY AND CONSUMPTION

SYMBOL

CONDITIONS

MIN

TYP

MAX

UNITS

V

Supply Voltage

V

1.71

2.5

3.6

V

DD

V

+

DD

0.3V

V

(Noteꢀ2)

V

DDIO

IDD Current Consumption

NormalꢀMode

I

5.4

2.7

mA

VDDN

IDD Current Consumption Standby

Modeꢀ(Noteꢀ3)

I

VDDS

200HzꢀODR

100HzꢀODR

3.3

3.0

mA

IDD Current Consumption

EcoꢀModeꢀ(Noteꢀ4)

I

VDDT

VDDP

IDD Current Consumption

Power Down Mode

I

8.5

µA

TEMPERATURE SENSOR

8 bit

1

256

1

digit/ºC

Hz

Temperature Sensor Output

Change vs. Temperature

T

SDR

16 bit

Temperature BW

T

BW

At T = +25ºC, 8 bit

25

A

Temperature Sensor Bias

GYROSCOPE

T

digit

BIAS

At T = +25ºC, 16 bit

A

6400

±31.25

±62.5

±125

Gyro Full-Scale Range

G

User selectable

dps

FSR

±250

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Electrical Characteristics (continued)

(V

= V

ꢀ=ꢀ2.5V,ꢀINT1,ꢀINT2,ꢀT = -40°C to +85°C, SDA and SCL are unconnected, unless otherwise noted. Typical values are

DD

DDIO A

at T = +25°C).

A

PARAMETER

SYMBOL

CONDITIONS

MIN

TYP

±500

MAX

UNITS

Gyro Full-Scale Range

G

User selectable

±1000

±2000

dps

FSR

For all the f and over the whole V

S

including 1.8V

DD

GyroꢀRateꢀNoiseꢀDensity

G

0.009

0.025

dps/√Hz

Hz

RND

GyroꢀRateꢀNoiseꢀDensityꢀinꢀ

EcoꢀMode

For all the FS and over the whole V

includingꢀ1.8Vꢀatꢀ200HzꢀODR

DD

G

SPRND

Gyro Bandwidth (Lowpass)

(Noteꢀ5)

G

2

400

100

BWL

GyroꢀBandwidthꢀ(Highpass)

(Noteꢀ6)

G

0.1

Hz

BWH

Phase Delay

G

Atꢀ10Hz,ꢀ400Hzꢀbandwidth,ꢀ10kHzꢀODR

2.9

deg

Hz

%

PDL

Output Data Rate (Noteꢀ7)

SensitivityꢀError

G

5

10k

ODR

G

±2

960

480

240

120

60

SE

SO

SD

G

= 31.25

= 62.5

= 125

FSR

digit/

dps

Sensitivity

G

= 250

= 500

= 1000

= 2000

30

15

Sensitivity Drift Over Temperature

G

Maximum delta from T = +25ºC

±2

%

A

ZeroꢀRateꢀLevelꢀError

G

±0.5

dps

ZRLE

ZRLD

TUPL

TUPS

Zero Rate Level Drift Over

Temperature

Maximum delta from T = +25ºC

±2

45

2

dps

ms

A

Startup Time from Power Down

Startup Time from Standby Mode

G

ꢀ=ꢀ10kHz,

ꢀ=ꢀ400Hz

ODR

BWL

G

Nonlinearity

G

0.2

0.45

4

%f

S

NLN

Angular Random Walk (ARW)

In-Run Bias Stability

Cross Axis

G

º/√hr

º/hr

%

ARW

G

At 1000s

IBS

G

1

XX

For GFSR = 250, 500, 1000, 2000 dps,

axes X, Z

+f /4

S

Self-Test Output

STOR

dps

For GFSR = 250, 500, 1000, 2000 dps,

axisꢀY

-f /4

S

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Electrical Characteristics (continued)

(V

= V

ꢀ=ꢀ2.5V,ꢀINT1,ꢀINT2,ꢀT = -40°C to +85°C, unless otherwise noted. Typical values are at T = +25°C).

DD

DDIO A A

PARAMETER

SYMBOL

CONDITIONS

MIN

TYP

MAX

UNITS

IO DC SPECIFICATIONS (Note 9)

+0.3 x

Input Threshold Low

V

T

= +25ºC

V

IL

A

V

DDIO

0.7 x

InputꢀThresholdꢀHigh

V

IH

V

DDIO

0.05 x

HysteresisꢀofꢀSchmittꢀTriggerꢀinput

V

HYS

V

DDIO

I2C_CFG[3:2]ꢀ=ꢀ00

I2C_CFG[3:2]ꢀ=ꢀ01

I2C_CFG[3:2]ꢀ=ꢀ11

3

6

mA

Output Current

(Noteꢀ8)

I

/I

OH OL

12

SPI SLAVE TIMING VALUES (Note 10)

CLKꢀFrequency

F

10

50

MHz

ns

C_CLK

CS Setup Time

t

6

12

6

SU_CS

CSꢀHoldꢀTime

t

ns

H_CS

SDI Input Setup Time

SDIꢀInputꢀHoldꢀTime

CLKꢀFallꢀtoꢀSDOꢀValidꢀOutputꢀTime

t

ns

SU_SI

t

12

ns

H_SI

t

ns

V_SDO

SDOꢀOutputꢀHoldꢀTime

ESD PROTECTION

HumanꢀBodyꢀModel

T

10

ns

H_SO

HBM

±2

kV

Note 2: V

must be lower or equal than V

analog.

DDIO

DD

Note 3: In standby mode, only the drive circuit is powered on. In this condition, the outputs are not available. In this condition, the

startup time depends only on the filters responses.

Note 4: In eco mode, the sensor has higher rate noise density, but lower current consumption. In this condition, the selectable out-

putꢀdataꢀrateꢀ(ODR)ꢀisꢀeitherꢀ25Hz,ꢀ50Hz,ꢀ100Hz,ꢀorꢀ200Hz.

Note 5: User selectable: gyro bandwidth accuracy is ±10%.

Note 6: Enable/disableꢀwithꢀuserꢀselectableꢀbandwidth.ꢀGyroꢀbandwidthꢀaccuracyꢀisꢀ±10%.

Note 7: Userꢀselectableꢀwithꢀ256ꢀpossibleꢀvaluesꢀfromꢀ10kHzꢀdownꢀtoꢀ5Hz.ꢀODRꢀaccuracyꢀisꢀ±10%.

Note 8: User can choose the best output current based on his PCB, interface speed, load, and consumption.

Note 9: Based on characterization results, not production tested.

Note 10:Basedꢀonꢀcharacterizationꢀresults,ꢀnotꢀproductionꢀtested.ꢀTestꢀconditionsꢀare:ꢀI2C_CFG[3:0]ꢀ=ꢀ1111.

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

SPI Timing Diagrams

4-WIRE SPI MODE

t

CSW

t

SU_CS

CS

t

H_CS

CLK

1

2

t

8

9

10

t

C_CLK

SU_SI

SDI

t

V_SDO

H_SI

H_SO

HI-Z

SDO

3-WIRE SPI MODE

t

CSW

t

SU_CS

CS

t

H_CS

CLK

1

2

8

9

10

t

C_CLK

t

SU_SI

HI-Z

SDI

t

H_SI

HI-Z

SDO

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Typical Operating Characteristics

(V

= V

= 2.5V, T = +25ºC, unless otherwise noted.)

DD

DDIO A

X-AXIS DIGITAL OUTPUT

vs. ANGULAR RATE

30k

Y-AXIS DIGITAL OUTPUT

vs. ANGULAR RATE

Z-AXIS DIGITAL OUTPUT

vs. ANGULAR RATE

30k

20k

10k

0

20k

10k

0

20k

T

A

= -40°C

10k

0

T

= +25°C

T = +25°C

A

T

A

= -40°C

T = -40°C

A

-10k

-20k

-30k

-10k

-20k

-30k

-10k

-20k

-30k

T

= +85°C

0

T

A

= +85°C

0

T

A

= +85°C

0

A

T

= +25°C

A

-2k

-1k

1k

2k

-2k

-1k

1k

2k

-2k

-1k

1k

2k

ANGULAR RATE (dps)

ZERO-RATE LEVEL vs. POWER SUPPLY

MAGNITUDE RESPONSE

PHASE RESPONSE

1.0

0.8

0.6

0.4

0.2

0

10

0

-10

-20

-30

-40

-50

-60

-70

-80

-90

BW = 400Hz

Y

-10

-20

-30

-40

-50

X

BW = 10Hz

BW = 100Hz

-0.2

-0.4

-0.6

-0.8

-1.0

BW = 400Hz

Z

1.6

2.1

2.6

3.1

3.6

1

10

100

1000

0

100

200

300

400

500

POWER SUPPLY (V)

FREQUENCY (Hz)

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Pin Conﬁguration

TOP VIEW

+

16 15 14

V

RESERVED

DSYNC

INT1

DDIO

1

2

3

4

5

13

12

11

10

9

N.C.

MAX21000

N.C.

SCL_CLK

GND

RESERVED

INT2

6

7

8

LGA

(3mm x 3mm)

Pin Description

1

NAME

FUNCTION

V

Interface and Interrupt Pad Supply Voltage

DD_IO

N.C.

2, 3, 16

NotꢀInternallyꢀConnected

2

SPI and I C Clock. When in I Cꢀmode,ꢀtheꢀIOꢀhasꢀselectableꢀantispikeꢀﬁlterꢀandꢀdelayꢀtoꢀensureꢀ

4

5

6

SCL_CLK

GND

correct hold time.

Power-Supply Ground.

2

SPI In/Out Pin and I C Serial Data. When in I Cꢀmode,ꢀtheꢀIOꢀhasꢀselectableꢀantispikeꢀﬁlterꢀandꢀ

delay to ensure correct hold time.

SDA_SDI_O

2

7

8

SA0_SDO

CS

SPI Serial Data Out or I C Slave Address LSB

SPI Chip Select/Serial Interface Selection

Second Interrupt Line

9

INT2

10

11

RESERVED

INT1

MustꢀBeꢀConnectedꢀtoꢀGND

First Interrupt Line

Data Synchronization Pin. Used to wake up the MAX21000 from power down/standby and

synchronize data with GPS/camera.

12

DSYNC

13

14

15

RESERVED

Leave Unconnected

V

DD

AnalogꢀPowerꢀSupply.ꢀBypassꢀtoꢀGNDꢀwithꢀaꢀ0.1µFꢀcapacitorꢀandꢀoneꢀ1µF.ꢀ

V

Must be tied to V

in the application.

DD

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Functional Diagram

TIMER

MAX21000

MEMS

GYRO

SENSE

FILTERING

SCL_CLK

SDA_SDI_O

A

AFE

2

SPI/I C

SA0_SDO

CS

SLAVE

REGISTERS

AND

A

FIFO

DSYNC

GYRO

DRIVE

CONTROL

SYNC

INT1

INT2

INTERRUPTS

RING

OSCILLATOR

GND

V

DD

V

DD_IO

powerꢀtheꢀMEMSꢀgyroscope,ꢀtheꢀMAX21000ꢀcanꢀnotꢀonlyꢀ

operate at 1.71V but that supply can also be provided by

a switching regular, to minimize the system power con-

sumption.

Detailed Description

The MAX21000 is a low power, low voltage, small

package three-axis angular rate sensor able to provide

unprecedented accuracy and sensitivity over temperature

and time.

Power-supply current (mA): This parameter defines the

typicalꢀcurrentꢀconsumptionꢀwhenꢀtheꢀMEMSꢀgyroscopeꢀ

is operating in normal mode.

The IC is also the industry’s first gyroscope available in a

3mm x 3mm package and capable of working with a sup-

ply voltage as low as 1.71V.

Power-supply current in standby mode (mA): This

parameter defines the current consumption when the

MEMSꢀ gyroscopeꢀ isꢀ inꢀ Standbyꢀ mode.ꢀ Toꢀ reduceꢀ powerꢀ

consumption and have a faster turn-on time, in Standby

mode only an appropriate subset of the sensor is turned off.

It includes a sensing element and an IC interface that

provides the measured angular rate to the external world

through a digital interface (I²C/SPI).

The IC has a full scale of ±250/±500/±1k/±2k dps for UI

and ±31.25/±62.5/±125/±250 dps for OIS. It measures

rates with a user-selectable bandwidth.

Power-supply current in eco mode (mA): This param-

eterꢀ definesꢀ theꢀ currentꢀ consumptionꢀ whenꢀ theꢀ MEMSꢀ

gyroscope is in a special mode named eco mode. While

in eco mode, the MAX21000 reduces significantly the

power consumption, at the price of a slightly higher rate

noise density.

The IC is available in a 3mm x 3mm x 0.9 mm plastic land

grid array (LGA) package and operates over the -40ºC to

+85ºC temperature range.

See the Definitions section for more information.

Power-supply current in power-down mode (µA):

This parameter defines the current consumption when

theꢀ MEMSꢀ gyroscopeꢀ isꢀ poweredꢀ down.ꢀ Inꢀ thisꢀ mode,ꢀ

both the mechanical sensing structure and reading chain

are turned off. Users can configure the control register

Deﬁnitions

Power supply (V): This parameter defines the operating

DCꢀpower-supplyꢀvoltageꢀrangeꢀofꢀtheꢀMEMSꢀgyroscope.ꢀ

Although it is always a good practice to keep V

clean

2

DD

through the I C/SPI interface for this mode. Full access

with minimum ripple, unlike most of the competitors,

who require an ultra-low noise, low-dropout regulator to

2

to the control registers through the I C/SPI interface is

guaranteed also in power-down mode.

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Full-scale range (dps): This parameter defines the mea-

surement range of the gyroscope in degrees per second

(dps). When the applied angular velocity is beyond the

full-scale range, the gyroscope output signal is saturated.

Three-Axis MEMS Gyroscope with 16-Bit ADCs

and Signal Conditioning

The IC consistsꢀ ofꢀ aꢀ single-driveꢀ vibratoryꢀ MEMSꢀ gyro-

scopeꢀthatꢀdetectsꢀrotationsꢀaroundꢀtheꢀX,ꢀY,ꢀandꢀZꢀaxes.ꢀ

When the gyroscope rotates around any of the sensing

axes, the Coriolis Force determines a displacement, which

can be detected as a capacitive variation. The resulting

signal is then processed to produce a digital stream pro-

portional to the angular rate. The analog-to-digital con-

version uses 16-bit ADC converters. The gyro full-scale

range can be digitally programmed to ±250, ±500, ±1000

or ±2000 dps in UI mode and ±31.25/±62.5/±125/±250

dps in OIS mode.

Zero-rate level (dps): This parameter defines the zero-

rate level when there is no angular velocity applied to the

gyroscope.

Sensitivity (digit/dps): Sensitivity (digit/dps) is the rela-

tionship between 1 LSB and dps. It can be used to

convert a digital gyroscope’s measurement in LSBs to

angular velocity.

Sensitivity change vs. temperature (%): This parameter

defines the sensitivity change in percentage (%) over the

operating temperature range specified in the data sheet.

Interrupt Generators

The MAX21000 offers two completely independent inter-

rupt generators to ease the SW management of the inter-

rupt generated. For instance, one line could be used to

signalꢀaꢀDATA_READYꢀeventꢀwhilstꢀtheꢀotherꢀlineꢀmightꢀ

be used, for instance, to notify the completion of the inter-

nal startup sequence.

Zero-rate level change vs. temperature (dps): This

parameter defines the zero-rate level change in dps over

the operating temperature range.

Non-linearity (% FS): This parameter defines the maxi-

mum error between the gyroscope‘s outputs and the best-

fit straight line in percentage with respect to the full-scale

(FS) range.

Interrupt functionality can be configured through the

Interrupt Configuration registers. Configurable items

includeꢀ theꢀ INTꢀ pinꢀ levelꢀ andꢀ duration,ꢀ theꢀ clearingꢀ

method, as well as the required triggers for the interrupts.

System bandwidth (Hz): This parameter defines the

frequency of the angular velocity signal from DC to the

built-in bandwidth (BW) that the gyroscopes can measure.

A dedicated register can be modified to adjust the gyro-

scope’s bandwidth.

The interrupt status can be read from the Interrupt Status

Registers. The event that has generated an interrupt is

available in two forms: latched and unlatched.

Rate noise density (dps/√Hz): This parameter defines

the standard resolution that users can get from the gyro-

scopes outputs together with the BW parameter.

Interrupt sources can be enabled/disabled and cleared indi-

vidually. The list of possible interrupt sources includes the

followingꢀconditions:ꢀDATA_READY,ꢀFIFO_READY,ꢀFIFO_

THRESHOLD,ꢀFIFO_OVERRUN,ꢀRESTART,ꢀDSYNC.

MAX21000 Architecture

The MAX21000 comprises the following key blocks and

functions:

The interrupt generation can also be configured as

latched, unlatched, or timed with programmable length.

When configured as latched, the interrupt can be cleared

by reading the corresponding status register (clear-on-

read) or by writing an appropriate mask to the status

register (clear-on-write).

●

Three-axisꢀMEMSꢀrateꢀgyroscopeꢀsensorꢀwithꢀ16-bitꢀ

ADCs and signal conditioning

2

● Primary I C and SPI serial communications interfaces

● Sensor data registers

● FIFO

Digital-Output Temperature Sensor

A digital output temperature sensor is used to measure

the IC die temperature. The readings from the ADC can

be accessed from the Sensor Data registers.

● Synchronization

● Interrupt generators

The temperature data is split over 2 bytes. For faster and

less accurate reading, accessing the MSB allows to read

the temperature data as an absolute value expressed in

Celsius degrees (ºC). By reading the LSB, the accuracy

is greatly increased, up to 256 digit/ºC.

● Digital output temperature sensor

● Self-test

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Power Modes

Table 1. Power Modes

The IC features four power modes, allowing selecting the

appropriate tradeoff between power consumption, accu-

racy, and turn-on time.

NAME

DESCRIPTION

Device is operational with maximum

performances.

Normal

The transition between power modes can be controlled

by software, by explicitly setting a power mode in the

Configuration register, or by enabling the automatic power

modeꢀtransitionꢀbasedꢀonꢀtheꢀDSYNCꢀpin.

Device operates to reduce the average

current consumption.

Eco

In standby mode, the current consumption is

reduced by 50%, with a shorter turn-on time

of 5ms.

Standby

Power-Down

Normal Mode

In normal mode, the IC is operational with minimum noise

level.

This is the minimum power consumption

mode, at the price of a longer turn-on time.

Eco Mode

The eco mode reduces power consumption with the same

sensor accuracy at the price of a higher rate noise density.

Table 2. Digital Interface Pin Description

NAME

DESCRIPTION

This unique feature can be activated with four ODRs:

25Hz,ꢀ50Hz,ꢀ100Hz,ꢀandꢀ200Hz.

2

SPI enable and I C/SPI mode selection

CS

2

(1: I C mode, 0: SPI enabled)

Standby Mode

2

SPI and I C clock. When in I C mode, the IO

hasꢀselectableꢀanti-spikeꢀﬁlterꢀandꢀdelayꢀtoꢀ

ensure correct hold time.

To reduce power consumption and have a shorter turn-on

time, the IC features a standby mode. In standby mode,

the IC does not generate data, as a significant portion of

the signal processing resources is turned off to save power.

Still, this mode enables a much quicker turn-on time.

SCL/CLK

2

SPI in/out pin and I C serial data. When in

I C mode, the IO has selectable anti-spike

ﬁlterꢀandꢀdelayꢀtoꢀensureꢀcorrectꢀholdꢀtime.

SDA/SDI/

SDO

2

Power-Down Mode

2

SPI serial data out or I C slave address LSB

SDO/SA0

In power-down mode, the IC is configured to minimize the

power consumption. In power-down mode, registers can still

be read and written, but the gyroscope cannot generate new

data. Compared to the standby mode, it takes longer to acti-

vate the IC and to start collecting data from the gyroscope.

2

Table 3. I C Address

2

I C BASE

SA0/SDO

RESULTING

ADDRESS

R/W BIT

ADDRESS

0x2C (6 bit)

0x2C

Digital Interfaces

0

1

0

1

0

1

0xB0

0xB1

0xB2

0xB3

The registers embedded inside the IC can be accessed

2

through both the I C and SPI serial interfaces. The latter

0x2C

can be SW-configured to operate either in 3-wire or 4-wire

interface mode.

0x2C

The serial interfaces are mapped onto the same pins. To

select/exploit the I C interface, CS line must be tied high

The IC always operates as a slave device when commu-

nicating to the system processor, which thus acts as the

master. SDA and SCL lines typically need pullup resistors

2

(i.e., connected to V

).

DDIO

2

to V

.ꢀTheꢀmaximumꢀbusꢀspeedꢀisꢀ3.4MHzꢀ(I²CꢀHS);ꢀ

I C Interface

DDIO

I²C is a two-wire interface comprised of the signals

serial data (SDA) and serial clock (SCL). In general, the

lines are open-drain and bidirectional. In a generalized

I²C interface implementation, attached devices can be

a master or a slave. The master device puts the slave

address on the bus, and the slave device with the match-

ing address acknowledges the master.

this reduces the amount of time the system processor is

kept busy in supporting the exchange of data.

The slave address of the IC is b101100X, which is 7 bits

long. The LSb of the 7-bit address is determined by the

logic level on pin SA0. This allows two MAX21000s to be

connected on the same I²C bus. When used in this con-

figuration, the address of one of the two devices should

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

beꢀb1011000ꢀ(pinꢀSA0_SD0ꢀisꢀsetꢀtoꢀlogic-low)ꢀandꢀtheꢀ

addressꢀofꢀtheꢀotherꢀshouldꢀbeꢀb1011001ꢀ(pinꢀSA0_SD0ꢀ

is set to logic-high).

Full-Duplex Operation

The IC is put into full-duplex mode at power-up, or when

theꢀSPIꢀmasterꢀclearsꢀtheꢀSPI_3_WIREꢀbit,ꢀtheꢀSPIꢀinter-

face uses separate data pins, SDI and SDO to transfer

data. Because of the separate data pins, bits can be

simultaneously clocked into and out of the IC. The IC

makes use of this feature by clocking out 8 output data

bits as the command byte is clocked in.

SPI Interface

TheꢀIC’sꢀSPIꢀcanꢀoperateꢀupꢀtoꢀ10MHz,ꢀinꢀbothꢀ3-wiresꢀ

(half duplex) and 4-wires mode (full duplex).

ItꢀisꢀrecommendedꢀtoꢀsetꢀtheꢀI2C_DISABLEꢀbitꢀatꢀaddressꢀ

0x15 if the IC is used together with other SPI devices to

2

Reading from the SPI Slave Interface (SDO)

avoid the possibility to switch inadvertently into I C mode

when traffic is detected with the CS unasserted.

The SPI master reads data from the IC slave interface

using the following steps:

The IC operates as an SPI slave device. Both the read

register and write register commands are completed in 16

clock pulses, or in multiples of 8 in case of multiple read/

write bytes. Bit duration is the time between two falling

edgesꢀofꢀCLK.

1) When CS is high, the IC is unselected and three-states

the SDO output.

2)ꢀꢀAfterꢀ drivingꢀ SCL_CLKꢀ toꢀ itsꢀ inactiveꢀ state,ꢀ theꢀ SPIꢀ

master selects the IC by driving CS low.

Theꢀfirstꢀbitꢀ(bitꢀ0)ꢀstartsꢀatꢀtheꢀfirstꢀfallingꢀedgeꢀofꢀCLKꢀ

after the falling edge of CS while the last bit (bit 15, bit 23,

etc.)ꢀstartsꢀatꢀtheꢀlastꢀfallingꢀedgeꢀofꢀCLKꢀjustꢀbeforeꢀtheꢀ

rising edge of CS.

3) The SPI master simultaneously clocks the command

byte into the MAX21000. The SPI Read command

is performed with 16 clock pulses. Multiple byte read

command is performed adding blocks of 8 clock pulses

at the previous one.

Bit 0: RWꢀbit.ꢀWhenꢀ0,ꢀtheꢀdataꢀDI[7:0]ꢀisꢀwrittenꢀtoꢀtheꢀ

IC.ꢀWhenꢀ1,ꢀtheꢀdataꢀDO[7:0]ꢀfromꢀtheꢀdeviceꢀisꢀread.ꢀInꢀ

the latter case, the chip drives SDO at the start of bit 8.

Bit 0: READꢀbit.ꢀTheꢀvalueꢀisꢀ1.

Bit 1: MS bit. When 1, do not increment address.

When 0, increment address in multiple reading.

Bit 1: MS bit. Depending on the configuration of

IF_PARITY,ꢀthisꢀbitꢀcanꢀeitherꢀbeꢀusedꢀtoꢀoperateꢀinꢀ

multi-addressing standard mode or to check the parity

with the register address.

Bits 2–7:ꢀaddressꢀAD[5:0].ꢀThisꢀisꢀtheꢀaddressꢀfieldꢀofꢀ

the indexed register.

Bits 8–15:ꢀdataꢀDO[7:0]ꢀ(readꢀmode).ꢀThisꢀisꢀtheꢀdataꢀ

that is read from the device (MSb first).

If used as MS bit, when 1, the address remains

unchanged in multiple read/write commands. When 0,

the address is autoincremented in multiple read/write

commands.

Bits 16–... :ꢀ dataꢀ DO[...–8].ꢀ Furtherꢀ dataꢀ inꢀ multipleꢀ

byte reading.

4) After 16 clock cycles, the master can drive CS high to

deselect the IC, causing it to three-state its SDO out-

put. The falling edge of the clock puts the MSB of the

next data byte in the sequence on the SDO output.

Bits 2–7:ꢀAddressꢀAD[5:0].ꢀThisꢀisꢀtheꢀaddressꢀfieldꢀofꢀ

the indexed register.

Bits 8–15:ꢀDataꢀDI[7:0]ꢀ(writeꢀmode).ꢀThisꢀisꢀtheꢀdataꢀ

that is written to the device (MSb first).

5) By keeping CS low, the master clocks register data

bytesꢀoutꢀofꢀtheꢀICꢀbyꢀcontinuingꢀtoꢀsupplyꢀSCL_CLKꢀ

pulses (burst mode). The master terminates the trans-

fer by driving CS high. The master must ensure that

SCL_CLKꢀisꢀinꢀitsꢀinactiveꢀstateꢀatꢀtheꢀbeginningꢀofꢀtheꢀ

next access (when it drives CS low).

Bits 8–15:ꢀDataꢀDO[7:0]ꢀ(readꢀmode).ꢀThisꢀisꢀtheꢀdataꢀ

that is read from the device (MSb first).

SPI Half- and Full-Duplex Operation

The IC can be programmed to operate in half-duplex (a

bidirectional data pin) or full-duplex (one data-in and one

data-out pin) mode. The SPI master sets a register bit

calledꢀSPI_3_WIREꢀintoꢀITF_OTPꢀtoꢀ0ꢀforꢀfull-duplex,ꢀandꢀ

1 for half-duplex operation. Full duplex is the power-on

default.

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Bit 0:ꢀREADꢀbit.ꢀTheꢀvalueꢀisꢀ1.

Writing to the SPI Slave Interface (SDI)

The SPI master writes data to the IC slave interface

through the following steps:

Bit 1: MS bit. When 1, do not increment address.

When 0, increment address in multiple readings.

1) The SPI master sets the clock to its inactive state.

When CS is high, the master can drive the SDI input.

Bit 2–7:ꢀAddressꢀAD[5:0].ꢀThisꢀisꢀtheꢀaddressꢀfieldꢀofꢀ

the indexed register.

2) The SPI master selects the MAX21000 by driving CS low.

Bit 8–15:ꢀdataꢀDO[7:0]ꢀ(readꢀmode).ꢀThisꢀisꢀtheꢀdataꢀ

that is read from the device (MSb first). Multiple read

command is also available in 3-wire mode.

3) The SPI master simultaneously clocks the command

byte into the IC. The SPI write command is performed

with 16 clock pulses. Multiple byte write command is

performed adding blocks of 8 clock pulses at the previ-

ous one.

Sensor Data Registers

The sensor data registers contain the latest gyroscope

and temperature measurement data.

Bit 0:ꢀWRITEꢀbit.ꢀTheꢀvalueꢀisꢀ0.

They are read-only registers and are accessed through

the serial interface. Data from these registers can be read

anytime.ꢀHowever,ꢀtheꢀinterruptꢀfunctionꢀcanꢀbeꢀusedꢀtoꢀ

determine when new data is available.

Bit 1: MS bit. When 1, do not increment address,

when 0, increment address in multiple writing.

Bits 2–7:ꢀaddressꢀAD[5:0].ꢀThisꢀisꢀtheꢀaddressꢀfieldꢀofꢀ

the indexed register.

FIFO

Bits 8–15:ꢀdataꢀDI[7:0]ꢀ(writeꢀmode).ꢀThisꢀisꢀtheꢀdataꢀ

The IC embeds a 256-slot of a 16-bit data FIFO for each

of the three output channels: yaw, pitch, and roll. This

allows a consistent power saving for the system since the

host processor does not need to continuously poll data

from the sensor, but it can wake up only when needed

and burst the significant data out from the FIFO. When

configured in Snapshot mode, it offers the ideal mecha-

nism to capture the data following a Rate Interrupt event.

that is written inside the device (MSb first).

Bits 16–... :ꢀdataꢀDI[...–8].ꢀFurtherꢀdataꢀinꢀmultipleꢀbyteꢀ

writing.

4) By keeping CS low, the master clocks data bytes into

theꢀICꢀbyꢀcontinuingꢀtoꢀsupplyꢀSCL_CLKꢀpulsesꢀ(burstꢀ

mode). The master terminates the transfer by driving

CSꢀ high.ꢀ Theꢀ masterꢀ mustꢀ ensureꢀ thatꢀ SCL_CLKꢀ isꢀ

inactive at the beginning of the next access (when it

drives CS low). In full-duplex mode, the IC outputs

data bits on SDO during the first 8 bits (the command

byte), and subsequently outputs zeros on SDO as the

SPI master clocks bytes into SDI.

This buffer can work according to four main modes: off,

normal, interrupt, and snapshot.

Bothꢀ Normalꢀ andꢀ Interruptꢀ modesꢀ canꢀ beꢀ optionallyꢀ

configured to operate in overrun mode, depending on

whether, in case of buffer under-run, newer or older data

are lost.

Half-Duplex Operation

WhenꢀtheꢀSPIꢀmasterꢀsetsꢀSPI_3_WIREꢀ=ꢀ1,ꢀtheꢀICꢀisꢀputꢀ

into half-duplex mode. In half-duplex mode, the IC three-

states its SDO pin and makes the SDI pin bidirectional,

saving a pin in the SPI interface. The SDO pin can be left

unconnected in half-duplex operation. The SPI master

must operate the SDI pin as bidirectional. It accesses a

IC register as follows: the SPI master sets the clock to its

inactive state. While CS is high, the master can drive the

SDI pin to any value.

Various FIFO status flags can be enabled to generate

interruptꢀeventsꢀonꢀINT1/INT2ꢀpin.

FIFO Off Mode

Inꢀthisꢀmode,ꢀtheꢀFIFOꢀisꢀturnedꢀoff;ꢀdataꢀareꢀstoredꢀonlyꢀ

in the data registers and no data are available from the

FIFO if read.

When the FIFO is turned off, there are essentially two

options to use the device: synchronous and asynchro-

nous reading.

1) The SPI master selects the IC by driving CS low and

placing the first data bit (MSB) to write on the SDI

input.

Synchronous Reading

In this mode, the processor reads the data set (e.g., 6

bytes for a 3 axes configuration) generated by the IC

everyꢀtimeꢀthatꢀDATA_READYꢀisꢀset.ꢀTheꢀprocessorꢀmustꢀ

read once and only once the data set in order to avoid

data inconsistencies.

2) The SPI master turns on its output driver and clocks the

command byte into the IC. The SPI read command is

performed with 16 clock pulses:

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MAX21000

Ultra-Accurate, Low Power,

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Benefits of using this approach include the perfect recon-

struction of the signal coming the gyroscope and mini-

mum data traffic.

data rate (ODR).

● When FIFO is full, an interrupt can be generated.

● When FIFO is full, all the new incoming data is dis-

charged. Reading only a subset of the data already

stored into the FIFO keeps locked the possibility

for new data to be written.

Asynchronous Reading

In this mode, the processor reads the data generated by

theꢀICꢀregardlessꢀtheꢀstatusꢀofꢀtheꢀDATA_READYꢀflag.ꢀToꢀ

minimize the error caused by different samples being read

a different number of times, the access frequency to be

used must be much higher than the selected ODR (e.g.,

10x). This approach normally requires a much higher BW.

● Only if all the data are read, the FIFO restarts sav-

ing data.

● If communication speed is high, data loss can be

prevented.

FIFO Normal Mode

● To prevent a FIFO-FULL condition, the required

condition is to complete the reading of the data set

beforeꢀtheꢀnextꢀDATA_READYꢀoccurs.

Overrun = false

● FIFO is turned on.

● If this condition is not guaranteed, data can be lost.

● FIFO is filled with the data at the selected output

255

(WP-RP)

=

LEVEL

(WP-RP)

=

LEVEL

(WP-RP)

=

LEVEL

THRESHOLD

0

LEVEL INCREMENTS WITH NEW

SAMPLES STORED AND DECREMENTS

WITH NEW READINGS.

FIFO_FULL INTERRUPT GENERATED.

NO NEW DATA STORED UNTIL

THE ENTIRE FIFO IS READ.

FIFO_OVTHOLD INTERRUPT

GENERATED.

Figure 1. FIFO Normal Mode, Overrun = False

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MAX21000

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Overrun = true

Interrupt Mode

Overrun = false

● FIFO is turned on.

● FIFO is initially disabled. Data are stored only in

● FIFO is filled with the data at the selected ODR.

● When FIFO is full, an interrupt can be generated.

the data registers.

●

Whenꢀaꢀrateꢀinterruptꢀ(eitherꢀORꢀorꢀAND)ꢀisꢀgener-

ated, the FIFO is turned on automatically. It stores

the data at the selected ODR.

● When FIFO is full, the oldest data is overwritten-

with the new ones.

● If communication speed is high, data integrity can

● When FIFO is full, all the new incoming data is dis-

charged. Reading only a subset of the data already

stored into the FIFO keeps locked the possibility

for new data to be written.

be preserved.

●

ToꢀpreventꢀaꢀDATA_LOSTꢀcondition,ꢀtheꢀrequiredꢀ

condition is to complete the reading of the data set

beforeꢀtheꢀnextꢀDATA_READYꢀoccurs.

● Only if all the data are read, the FIFO restarts sav-

● If this condition is not guaranteed, data can be

ing data.

overwritten.

● If communication speed is high, data loss can be

● When an overrun condition occurs the reading

pointer is forced to writing pointer -1 to ensure only

older data are discarded and newer data have a

chance to be read.

prevented.

● To prevent a FIFO-FULL condition, the required

condition is to complete the reading of the data set

beforeꢀtheꢀnextꢀDATA_READYꢀoccurs.

● If this condition is not guaranteed, data can be lost.

FIFO USED AS

CIRCULAR BUFFER

FIFO USED AS

CIRCULAR BUFFER

FIFO USED AS

CIRCULAR BUFFER

RP

WP

RP

THRESHOLD

WP

RP

WP-RP INCREMENTS WITH NEW

SAMPLES STORED AND DECREMENTS

WITH NEW READINGS.

FIFO_FULL INTERRUPT GENERATED.

NEW INCOMING DATA WOULD

OVERWRITE THE OLDER ONES.

FIFO_OVTHOLD INTERRUPT

GENERATED.

Figure 2. FIFO Normal Mode, Overrun = True

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

MAX

FIFO INITIALLY OFF.

WHEN THE

PROGRAMMED RATE

INTERRUPT OCCURS,

TURN FIFO ON.

LEVEL

0

MAX

(WP-RP)

=

LEVEL

(WP-RP)

=

LEVEL

THRESHOLD

(WP-RP)

=

LEVEL

0

LEVEL INCREMENTS WITH NEW

SAMPLES STORED AND DECREMENTS

WITH NEW READINGS.

FIFO_FULL INTERRUPT GENERATED.

NO NEW DATA STORED UNTIL THE

ENTIRE FIFO IS READ.

FIFO_OVTHOLD INTERRUPT

GENERATED.

Figure 3. FIFO Interrupt Mode, Overrun = False

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MAX21000

Ultra-Accurate, Low Power,

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Overrun = true

●

InꢀorderꢀtoꢀpreventꢀaꢀDATA_LOSTꢀcondition,ꢀtheꢀ

required condition is to complete the reading of the

dataꢀsetꢀbeforeꢀtheꢀnextꢀDATA_READYꢀoccurs.

● FIFO is initially disabled. Data are stored only in

the data registers.

● If this condition is not guaranteed, data can be

●

WhenꢀaꢀRateꢀInterruptꢀ(eitherꢀORꢀorꢀAND)ꢀisꢀ

generated, the FIFO is turned on automatically. It

stores the data at the selected ODR.

overwritten.

● When an overrun condition occurs, the reading

pointer is forced to writing pointer -1 to ensure only

older data are discarded and newer data have a

chance to be read.

● When FIFO is full, an interrupt can be generated.

● When FIFO is full, the oldest data is overwritten

with the new ones.

● If communication speed is high, data integrity can

be preserved.

MAX

FIFO INITIALLY OFF.

WHEN THE

PROGRAMMED RATE

INTERRUPT OCCURS,

TURN FIFO ON.

LEVEL

0

RP

WP

THRESHOLD

RP

WP = RP

WP-RP INCREMENTS WITH NEW

SAMPLES STORED AND DECREMENTS

WITH NEW READINGS.

FIFO_FULL INTERRUPT GENERATED.

NEW INCOMING DATA WOULD

OVERWRITE THE OLDER ONES.

FIFO_OVTHOLD INTERRUPT

GENERATED.

Figure 4. FIFO Interrupt Mode, Overrun = True

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MAX21000

Ultra-Accurate, Low Power,

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stored into the FIFO keeps locked the possibility

for new data to be written.

Snapshot Mode

● FIFO is initially in normal mode with overrun

enabled.

● Only if all the data are read the FIFO restarts sav-

ing data.

●

WhenꢀaꢀRateꢀInterruptꢀ(eitherꢀORꢀorꢀAND)ꢀisꢀgen-

erated, the FIFO switches automatically to not-

overrun mode. It stores the data at the selected

ODR until the FIFO becomes full.

● If communication speed is high, data loss can be

prevented.

●

ToꢀpreventꢀaꢀFIFO_FULLꢀcondition,ꢀtheꢀrequiredꢀ

condition is to complete the reading of the data set

beforeꢀtheꢀnextꢀDATA_READYꢀoccurs.

● When FIFO is full, an interrupt can be generated.

● When FIFO is full, all the new incoming data is dis-

charged. Reading only a subset of the data already

● If this condition is not guaranteed, data can be lost.

FIFO USED AS

CIRCULAR BUFFER

FIFO USED AS

CIRCULAR BUFFER

FIFO USED AS

CIRCULAR BUFFER

RP

WP

RP

THRESHOLD

WP

RP

RATE INTERRUPT

MAX

SNAPSHOT CAPTURED

MAX

(WP-RP)

=

LEVEL

(WP-RP)

=

LEVEL

(WP-RP)

THRESHOLD

=

LEVEL

0

Figure 5. FIFO Snapshot Mode

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MAX21000

Ultra-Accurate, Low Power,

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DSYNC Interrupt Generation

Bias Instability and Angular Random Walk

TheꢀDSYNCꢀpinꢀcanꢀalsoꢀbeꢀusedꢀasꢀanꢀinterruptꢀsourceꢀ

to determine a different kind of data synchronization

based on the software management performed by an

external processor.

Bias instability is a critical performance parameter for

gyroscopes. The IC provides a typical bias instability of 4º/

hourꢀonꢀeachꢀaxisꢀandꢀanꢀARWꢀofꢀ0.45º/√hour,ꢀmeasuredꢀ

using the Allan Variance method.

Theꢀ DSYNC-basedꢀ wake-up,ꢀ dataꢀ capture,ꢀ dataꢀ map-

ping, and interrupt generation features can be combined

together.

Data Synchronization

Theꢀ DSYNCꢀ pinꢀ enablesꢀ aꢀ numberꢀ ofꢀ synchronizationꢀ

options.

Unique Serial Number

Wake-Up Feature

EachꢀICꢀisꢀuniquelyꢀidentifiedꢀbyꢀ48ꢀbitsꢀthatꢀcanꢀbeꢀusedꢀ

to track the history of the sample, including manufactur-

ing, assembly, and testing information.

TheꢀDSYNCꢀpinꢀcanꢀbeꢀusedꢀtoꢀwake-upꢀtheꢀICꢀfromꢀtheꢀ

power-down or suspend mode. Repeatedly changing

DSYNCꢀfromꢀactiveꢀtoꢀnotꢀactiveꢀandꢀvice-versaꢀcanꢀbeꢀ

used to control the power mode of the MAX21000 using

an external controlling device, be it a microprocessor,

another sensor or a different kind of device.

Self-Test

For digital gyroscopes, there are two dedicated bits in a

control register to enable the self-test. This feature can be

used to verify if the gyroscope is working properly with-

out physically rotating the gyroscope. That may be used

either before or after it is assembled on a PCB. If the gyro-

scope’s outputs are within the specified self-test values in

the data sheet, then the gyroscope is working properly.

Therefore, the self-test feature is an important consider-

ation in a user’s end-product mass production line.

DSYNCꢀcanꢀbeꢀconfiguredꢀtoꢀactiveꢀeitherꢀHighꢀorꢀLowꢀ

and on either edge or level. This feature is controlled by a

specificꢀbitꢀinꢀtheꢀDSYNC_CFGꢀregister.

Data Capture Feature

AnotherꢀwayꢀtoꢀuseꢀtheꢀDSYNCꢀpinꢀisꢀasꢀdataꢀcaptureꢀtrig-

ger. The IC can be configured to stop generating data until

aꢀ givenꢀ edgeꢀ occurꢀ onꢀ DSYNC.ꢀ Onceꢀ theꢀ programmedꢀ

active edge occurs, the IC collects as many data as speci-

fiedꢀinꢀtheꢀDSYNC_CNTꢀregister.

The embedded self-test in Maxim’s 3-axis digital gyro-

scope is an additional key feature that allows the gyro-

scope to be tested during final product assembly without

requiring physical device movement.

DSYNC Mapping on Data

DSYNCꢀcanꢀalsoꢀbeꢀoptionallyꢀmappedꢀontoꢀtheꢀLSBꢀofꢀ

the sensor data to perform synchronization afterwards.

The mapping occurs on every enabled axis of the gyro-

scope. This feature is controlled by a specific bit in the

DSYNC_CFGꢀregister.

Maxim Integrated

│ 18

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

addresses in the 0x00 to 0x3F range even though the

number of physical registers is in excess of 64.

Register File

The register file is organized per banks. On the common

bank are mapped addresses from 0x20 to 0x3F and

these registers are always available. It is possible to map

on addresses 0x00 to 0x1F two different user banks by

properly programming address 0x21. The purpose of this

structure is to limit the management of the register map

Common Bank

The common is the bank whose locations are always

available regardless the register bank selection.

This bank contains all the registers most commonly used,

including data registers and the FIFO data.

Table 4. Common Bank

REGISTER

NAME

TYPE

DEFAULT VALUE

COMMENT

ADDRESS

0x20

0x21

0x22

0x23

0x24

0x25

0x26

0x27

0x28

0x29

0x2A

0x2B

0x2C

0x2D

0x2E

0x2F

0x30

0x31

0x32

0x33

0x34

0x35

0x36

0x37

0x38

0x39

0x3A

0x3B

0x3C

0x3D

0x3E

0x3F

WHO_AM_I

R

1011 0001

0000 0000

Data

Device ID

BANK_SELECT

SYSTEM_STATUS

GYRO_X_H

GYRO_X_L

GYRO_Y_H

GYRO_Y_L

GYRO_Z_H

GYRO_Z_L

TEMP_H

TEMP_L

RFU

RW

Register bank selection

R

System Status register

R

Bitsꢀ[15:8]ꢀofꢀXꢀmeasurement

Bitsꢀ[07:0]ꢀofꢀXꢀmeasurement

Bitsꢀ[15:8]ꢀofꢀYꢀmeasurement

Bitsꢀ[07:0]ꢀofꢀYꢀmeasurement

Bitsꢀ[15:8]ꢀofꢀZꢀmeasurement

Bitsꢀ[07:8]ꢀofꢀZꢀmeasurement

Bitsꢀ[15:8]ꢀofꢀTꢀmeasurement

Bitsꢀ[07:8]ꢀofꢀTꢀmeasurement

R

Data

R

Data

R

Data

R

Data

R

Data

R

Data

R

Data

R

0000 0000

Data

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

HP_RST

FIFO_COUNT

FIFO_STATUS

FIFO_DATA

PAR_RST

RW

Highpassꢀﬁlterꢀreset

R

Available FIFO samples for data set

FIFOꢀstatusꢀﬂags

R

FIFO data to be read in burst mode

Parity reset (reset on write)

W and reset

0000 0000

Maxim Integrated

│ 19

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

User Bank 0

User bank 0 is the register used to configure most of the features of the IC, with the exception of the interrupts, which

are part of the user bank 1.

Table 5. User Bank 0

REGISTER

NAME

TYPE

DEFAULT VALUE

COMMENT

ADDRESS

0x00

0x01

0x02

0x03

0x04

0x05

0x06

0x07

0x08

0x09

0x0A

0x0B

0x0C

0x0D

0x0E

0x0F

0x10

0x11

0x12

0x13

0x14

0x15

0x16

0x17

0x18

0x19

0x1A

0x1B

0x1C

0x1D

0x1E

0x1F

POWER_CFG

SENSE_CFG1

SENSE_CFG2

SENSE_CFG3

RFU

RW

R

0000 0111

0010 1000

0010 0011

0000 0000

0000 0001

0000 0000

0000 0100

0000 0000

Powerꢀmodeꢀconﬁguration

Senseꢀconﬁguration:ꢀLPꢀandꢀOIS

Senseꢀconﬁguration:ꢀODR

Senseꢀconﬁguration:ꢀHP

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

DR_CFG

IO_CFG

I2C_CFG

ITF_OTP

FIFO_TH

FIFO_CFG

RFU

RW

R

Dataꢀreadyꢀconﬁguration

Input/outputꢀconﬁguration

I²Cꢀconﬁguration

InterfaceꢀandꢀOTPꢀconﬁguration

FIFOꢀthresholdꢀconﬁguration

FIFOꢀmodeꢀconﬁguration

DSYNC_CFG

DSYNC_CNT

RFU

R

DATA_SYNCꢀconﬁguration

DATA_SYNCꢀcounter

R

RFU

R

RFU

R

RFU

R

Maxim Integrated

│ 20

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

User Bank 1

User Bank 1 is primarily devoted to the configuration of the interrupts. It also contains the unique serial number.

Table 6. User Bank 1

REGISTER

NAME

INT_REF_X

TYPE

DEFAULT VALUE

COMMENT

ADDRESS

0x00

0x01

0x02

0x03

0x04

0x05

0x06

0x07

0x08

0x09

0x0A

0x0B

0x0C

0x0D

0x0E

0x0F

0x10

0x11

0x12

0x13

0x14

0x15

0x16

0x17

0x18

0x19

0x1A

0x1B

0x1C

0x1D

0x1E

0x1F

RW

R

0000 0000

0010 0100

0000 0000

1000 0000

0000 0010

0000 0000

Variable

Interrupt reference for X axis

InterruptꢀreferenceꢀforꢀYꢀaxis

Interrupt reference for Z axis

Interrupt debounce, X

INT_REF_Y

INT_REF_Z

INT_DEB_X

INT_DEB_Y

INT_DEB_Z

INT_MSK_X

INT_MSK_Y

INT_MSK_Z

INT_MASK_AO

INT_CFG1

INT_CFG2

INT_TMO

INT_STS_UL

INT1_STS

INT2_STS

INT1_MSK

INT2_MSK

RFU

Interruptꢀdebounce,ꢀY

Interrupt debounce, Z

Interrupt mask, X axis zones

Interruptꢀmask,ꢀYꢀaxisꢀzones

Interrupt mask, Z axis zones

Interruptꢀmasks,ꢀAND/OR

Interruptꢀconﬁgurationꢀ1

Interruptꢀconﬁgurationꢀ2

Interrupt timeout

Interrupt sources, unlatched

Interrupt 1 status, latched

Interrupt 2 status, latched

Interrupt 1 mask

R

RW

R

Interrupt 2 mask

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

RFU

R

SERIAL_0

SERIAL_1

SERIAL_2

SERIAL_3

SERIAL_4

SERIAL_5

R

Unique serial number, byte 0

Unique serial number, byte 1

Unique serial number, byte 2

Unique serial number, byte 3

Unique serial number, byte 4

Unique serial number, byte 5

R

Variable

R

Variable

R

Variable

R

Variable

R

Variable

Maxim Integrated

│ 21

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Depending on the specific application, add at least one

Orientation of Axes

bulk 1µF decoupling capacitor to V

and V

per

DD

DDIO

The diagram below shows the orientation of the axes of

sensitivityꢀandꢀtheꢀpolarityꢀofꢀrotation.ꢀNoteꢀtheꢀpinꢀ1ꢀiden-

tifier (U) in Figure 6.

PCB. For best performance, bring a V

power line in on

DD

the analog interface side of the IC and an V

power

DDIO

line from the digital interface side of the device.

Soldering Information

Visit www.maximintegrated.com/MAX21000.related for

Table 7. Bill of Materials for External

Components

soldering recommendations.

COMPONENT

LABEL SPECIFICATION QUANTITY

Application Notes

Bypass V

and V

to the ground plane with 0.1µF

V

/V

Ceramic, X7R,

0.1µF ±10%, 4V

DD

DDIO

DD DDIO

C1

C2

1

ceramic chip capacitors on each pin as close as possible

to the IC to minimize parasitic inductance.

bypass capacitor

V

/V

Ceramic, X7R,

1µF ±10%, 4V

DD DDIO

bypass capacitor

ΩZ

ΩY

ΩX

Figure 6. Orientation of Axes

Maxim Integrated

│ 22

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Typical Application Circuit

TIMER

MAX21000

MEMS

GYRO

SENSE

FILTERING

SCL_CLK

SDA_SDI_O

A

AFE

2

SPI/I C

SA0_SDO

CS

SLAVE

REGISTERS

AND

AP

A

FIFO

DSYNC

GYRO

DRIVE

CONTROL

SYNC

INT1

INT2

INTERRUPTS

RING

OSCILLATOR

V

DD

V

DD_IO

GND

PMIC

100nF

1µF

Chip Information

PROCESS:ꢀBiCMOS

Ordering Information

PART

MAX21000+

MAX21000+T

TEMP RANGE

-40°C to +85°C

PIN-PACKAGE

16 LGA

+Denotes lead(Pb)-free/RoHS-compliant package.

T = Tape and reel.

Maxim Integrated

│ 23

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Package Information

For the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages.ꢀNoteꢀthatꢀaꢀ“+”,ꢀ

“#”,ꢀorꢀ“-”ꢀinꢀtheꢀpackageꢀcodeꢀindicatesꢀRoHSꢀstatusꢀonly.ꢀPackageꢀdrawingsꢀmayꢀshowꢀaꢀdifferentꢀsuffixꢀcharacter,ꢀbutꢀtheꢀdrawingꢀ

pertainsꢀtoꢀtheꢀpackageꢀregardlessꢀofꢀRoHSꢀstatus.

Maxim Integrated

│ 24

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Package Information (continued)

For the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages.ꢀNoteꢀthatꢀaꢀ“+”,ꢀ

“#”,ꢀorꢀ“-”ꢀinꢀtheꢀpackageꢀcodeꢀindicatesꢀRoHSꢀstatusꢀonly.ꢀPackageꢀdrawingsꢀmayꢀshowꢀaꢀdifferentꢀsuffixꢀcharacter,ꢀbutꢀtheꢀdrawingꢀ

pertainsꢀtoꢀtheꢀpackageꢀregardlessꢀofꢀRoHSꢀstatus.

Maxim Integrated

│ 25

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MAX21000

Ultra-Accurate, Low Power,

3-Axis Digital Output Gyroscope

Revision History

REVISION REVISION

PAGES

CHANGED

DESCRIPTION

NUMBER

DATE

0

12/12

Initial release

—

Updated Beneﬁts and Features section, updated gyro full-scale range typ values,

updated phase delay conditions, updated sensitivity conditions, updated sensitivity

driftꢀoverꢀtemperatureꢀconditions,ꢀupdatedꢀSPIꢀlimits,ꢀaddedꢀNotesꢀ9ꢀandꢀ10,ꢀupdatedꢀ

SPI Timing Diagrams, removed I²C Timing Diagrams, updated TOC 4, updated Pin

Description,ꢀupdatedꢀDeﬁnitionsꢀsection,ꢀupdatedꢀSPIꢀInterfaceꢀsection,ꢀremovedꢀ

Revision ID, Clocking, and Layout, Grounding, and Bypassing sections, and added

Soldering Information section

1,ꢀ3–10,

12, 19, 23

1

2/13

For pricing, delivery, and ordering information, please contact Maxim Direct at 1-888-629-4642, or visit Maxim Integrated’s website at www.maximintegrated.com.

Maxim Integrated cannot assume responsibility for use of any circuitry other than circuitry entirely embodied in a Maxim Integrated product. No circuit patent licenses

are implied. Maxim Integrated reserves the right to change the circuitry and speciﬁcations without notice at any time. The parametric values (min and max limits)

shown in the Electrical Characteristics table are guaranteed. Other parametric values quoted in this data sheet are provided for guidance.

©

Maxim Integrated and the Maxim Integrated logo are trademarks of Maxim Integrated Products, Inc.

2013 Maxim Integrated Products, Inc.

│ 26


型号：	MAX21000+
厂家：	MAXIM INTEGRATED PRODUCTS
描述：	Analog Circuit, 1 Func, BICMOS, PQCC16 信息通信管理
文件：	总26页 (文件大小：881K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

MAX21000+ [MAXIM]

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