ADIS16607 Family no-OS Example Project

See projects/eval-adis16607 (doxygen) for the Doxygen documentation.

The ADIS16607 is a precision inertial measurement unit (IMU) that includes a triaxial gyroscope and a triaxial accelerometer. Each inertial sensor in the ADIS16607 combines industry leading MEMS technology with signal conditioning that optimizes dynamic performance. The factory calibration characterizes each sensor for sensitivity, bias, and alignment. As a result, each sensor has its own dynamic compensation formulas that provide accurate sensor measurements.

The ADIS16607 provides a simple, cost-effective method for integrating accurate, multiaxis inertial sensing into industrial systems. All necessary motion testing and calibration are part of the production process at the factory, greatly reducing system integration time.

The device supports both SPI (half-duplex and full-duplex modes) and I2C communication interfaces. Additional features include:

32-bit burst mode for high-resolution data acquisition
FIFO buffer for efficient data collection
External synchronization modes (direct and scaled)
Programmable decimation filter
Built-in self-test functionality

Device Variants

Device	Gyroscope Range	Accelerometer
ADIS16607-2	+/-450 deg/s	+/-40 g
ADIS16607-3	+/-2000 deg/s	+/-40 g

Applications

Precision instrumentation, stabilization
Guidance, navigation, and control
Precision autonomous machines and robotics
Dead reckoning in global positioning system (GPS) denied environments
Industrial automation and motion control

Hardware Specifications

Power Supply Requirements

The ADIS16607 eval devices have to be supplied with 3.3V voltage on VDD pin.

Pin Description

Please see the following table for the pin assignments for the interface connector (J1).

Pin

Name

Description

1

~RST

Reset, active low

2

SCLK

Serial Clock (Serial Peripheral Interface)

3

~CS

Chip Select (Serial Peripheral Interface), Active Low

4

DOUT

Data Output (Serial Peripheral Interface)

5

DNC

Do not connect

6

DIN

Data Input (Serial Peripheral Interface)

7

GND

Ground

8

GND

Ground

9

GND

Ground

10

VDD

Power Supply, +3.3V

11

VDD

Power Supply, +3.3V

12

VDD

Power Supply, +3.3V

13

DR

Data Ready

14

SYNC

Sync Input

15

DNC

Do not connect

16

DNC

Do not connect

Cabling

J1 supports connection with the following style of cables: 2.00 mm IDC Ribbon Cable Assembly.

TIP: Use "2.00 mm IDC Ribbon Cable Assembly" as search criteria to find the latest options on the market.

At the time of initial release for these breakout boards, we were most familiar with the TCSD Series from Samtec.

No-OS Build Setup

Please see: https://wiki.analog.com/resources/no-os/build

No-OS Supported Examples

The initialization data used in the examples is taken out from: Project Common Data Path

The macros used in Common Data are defined in platform specific files found in: Project Platform Configuration Path

Basic example

This is a simple example which initializes the ADIS16607 selected device and performs angular velocity, acceleration and temperature readings in a while loop with a period of 1s. The data is printed on the serial interface.

In order to build the basic example use the basic_example.conf configuration file when invoking CMake (see the Build Command section below).

IIO example

This project is actually a IIOD demo for EVAL-ADIS16607 device series. The project launches a IIOD server on the board so that the user may connect to it via an IIO client. Using IIO-Oscilloscope, the user can configure the IMU and view the measured data on a plot.

If you are not familiar with ADI IIO Application, please take a look at: IIO No-OS

If you are not familiar with ADI IIO-Oscilloscope Client, please take a look at: IIO Oscilloscope

The No-OS IIO Application together with the No-OS IIO ADIS driver take care of all the back-end logic needed to setup the IIO server.

This example initializes the IIO device and calls the IIO app as shown in: IIO Trigger Example

The read buffer is used for storing the burst data which shall be retrieved periodically by any LibIIO client. The measured data is sampled using a hardware trigger (e.g. interrupts). ADIS16607 offers the capability to use DATA_READY pin as a flag which shows when new measurements are available. Thus, DATA_READY pin is used as a hardware trigger. The example code maps the DATA_READY pin as GPIO input with interrupt capabilities. When DATA_READY pin transitions from low to high, new data is available and will be read based on is_synchronous flag setting used in adis_iio_trigger_desc. If the flag is set to true, the data will be read immediately, in the interrupt context. If the flag is set to false, the data will be read from application context. In this case some samples might be missed.

The ADIS16607 driver also supports FIFO mode for efficient data collection. When FIFO is enabled, multiple samples can be buffered in the device, reducing the interrupt frequency and allowing for more efficient data retrieval.

In order to build the IIO trigger example use the iio_trigger_example.conf configuration file when invoking CMake (see the Build Command section below).

No-OS Supported Platforms

Maxim Platform

Used hardware:

ADIS16607 with
AD-APARD32690-SL

Connections:

EVAL-ADIS16607 Pin Number	Mnemonic	Function	AD-APARD32690 Pin Number
1	~RST	Reset, active low	P2_21
2	SCLK	Serial Clock (SPI4)	P2_27
3	~CS	Chip Select (Serial Peripheral Interface), Active Low	P2_26
4	DOUT	Data Output (Serial Peripheral Interface)	P2_28
6	DIN	Data Input (Serial Peripheral Interface)	P2_29
7	GND	Ground	GND
10	VDD	Power Supply, +3.3V	3V3
13	DR	Data Ready	P1_6

Build Command

# Configure (select example via the conf file)
cmake --preset ad-apard32690-sl \
      -DPROJECT_DEFCONFIG=eval-adis16607/iio_trigger_example.conf \
      -S . -B build/eval-adis16607
# Build
cmake --build build/eval-adis16607 --target eval-adis16607
# Flash (using OpenOCD)
cmake --build build/eval-adis16607 --target eval-adis16607-flash