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general description the max21105 is a monolithic 3-axis gyroscopes plus 3-axis accelerometer inertial measurement units (imu) that provide unprecedented accuracy and stability over temperature and time. the max21105 is the industrys most accurate 6 dof inertial measurement units capable of working with a supply voltage as low as 1.71v designed to serve appli - cations such as drone/helicopter toys, handsets and tab - lets, game controllers, motion remote controls, and other consumer devices. in particular, the max21105 features low gyroscope zero-rate level error (gzrle), low and linear gyroscope zero-rate level drift over temperature (gzrldt) and low gyroscope phase delay (gpd) that makes the max21105 ideally suited for both flight and camera platforms stabili - zation on drone applications. a large 512-byte fifo extends the time during which the application processor can stay in a power-saving state. the max21105 is available in a 3mm x 3mm x 0.83mm package 16-lead plastic land grid array (lga) package and can operate within a temperature range of -40c to +85c. beneits and features accurate and stable performance over temperature for platform stabilization ? low and linear zero-rate level error drift over temperature (0.025dps/c typ) ? low bias instability (4/hour) ? 16-bit output temperature sensor low-power operation extends battery life ? 3.8ma low-noise mode gyroscope + accelerometer current consumption ? 2.2ma low-power mode gyroscope + low-noise mode accelerometer current consumption ? power-down mode current 1.5a compact package reduces board space and enhances device reliability ? 3mm x 3mm x 0.83mm 16l lga ? high shock survivability (10,000 g shock tolerant) ? -40c to +85c extended operating temperature applications platform stabilization motion control with hmi (human-machine interface) motion-enabled portable gaming gps navigation inertial navigation systems handsets and tablets ordering information appears and recommended application schematics continued at end of data sheet. 19-7458; rev 0; 12/14 main application processor max21105 1 2 3 4 5 6 7 8 13 12 11 10 9 16 15 14 regd rsv1 n.c. v dd scl sda int1 int2 sa0 n.c. int1 rsv0 int2 cs sa0_sdo sda_sdi_o gnd scl_clk n.c. n.c. v ddio + v ddio c1 v dd c2 i 2 c mode c1 v ddio r pu r pu v ddio recommended application schematics max21105 low-power, ultra-accurate 6 dof imu evaluation kit available downloaded from: http:///
a adc gyro sense dsp max21105 registers and fifo gyro drive control a+g mems accelero sense dsp accelero raw data gyro raw data dac v ddio bias and ldos adc a a a adc spi/i 2 c slave rsv0 scl_clk sda_sdi_o sa0_sdo cs rsv1 temperature sensor otp clocking interrupts int2 int1 regd gnd v dd functional diagram max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 2 downloaded from: http:///
v dd ....................................................................... -0.3v to +6.0v v ddio ................................................................... -0.3v to +6.0v regd ...................................... -0.3v to min (v dd + 0.3v,+2.2v) int1, int2, sda_sdi_o, sa0_sdo, scl_clk, cs, rsv0, rsv1 ............... -0.3v to min (v ddio + 0.3v, 6.0v) operating temperature range ........................... -40c to +85c junction temperature ...................................................... +150c storage temperature range ............................ -40c to +150c lead temperature (soldering, 10s) ................................. +260c lga junction-to-case thermal resistance ( jc ) ............ 31.8c/w junction-to-ambient thermal resistance ( ja ) ........ 160c/w (note 1) (v dd = v ddio = 1.8v, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c.) (note 2) parameter symbol conditions min typ max units operating conditions v dd supply v dd 1.71 1.8 3.6 v v ddio (note 3) v ddio 1.71 1.8 v dd + 0.3 v current consumptioniddcurrent consumption g only low-power mode (note 4) iddge t a = +25c, f godr = 100hz 1.9 2.3 ma iddcurrent consumption g low-power + a low-noise mode (note 4) iddgea t a = +25c, f godr = 100hz 2.2 2.6 ma iddcurrent consumptiong only low-noise mode iddg t a = +25c 3.6 4.2 ma iddcurrent consumption g + a low-noise mode iddga t a = +25c 3.8 4.5 ma iddcurrent consumptiong standby mode iddgsb t a = +25c 1.7 2.1 ma iddcurrent consumption a only, low-power mode (note 5) iddae f aodr = 100hz, 8 averages, t a = +25c 80 115 a f aodr = 25hz, 8 averages, t a = +25c 20 33 iddcurrent consumption a low-noise mode iddan t a = +25c 575 675 a iddcurrent consumptionpower down iddpd t a = +25c 1.5 10 a note 1: package thermal resistances were obtained using the method described in jedec specification jesd51-7, using a four-layer board. for detailed information on package thermal considerations, refer to www.maximintegrated.com/thermal-tutorial . drops onto hard surfaces can cause shocks of greater than 10,000g and can exceed the absolute maximum rating of the device. exercise care in handling to avoid damage. absolute maximum ratings 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. package thermal characteristicselectrical characteristics max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 3 downloaded from: http:///
(v dd = v ddio = 1.8v, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c.) (note 2) parameter symbol conditions min typ max units gyroscope full-scale range gfsr user selectable 250 dps 500 1000 2000 rate noise density (note 6) grnd low-noise mode, t a = +25c 0.009 0.025 dps/ hz rms noise grms low-noise mode, f godr = 2000hz, f gbwl = 32hz 0.06 dps rms grmse low-power mode, f godr = 100hz 0.22 sensitivity gs gfsr = 250 120 digit/ dps gfsr = 500 60 gfsr = 1000 30 gfsr = 2000 15 sensitivity error gse t a = +25c -2.5 +2.5 % sensitivity drift over temperature (note 6) gsdt -0.05 +0.05 %/c zero rate level error gzrle t a = +25c -6 +6 dps zero rate level drift over temperature (note 6) gzrldt -0.15 +0.15 dps/c angular random walk garw 0.45 deg/hr bias stability gbs 4 deg/hr nonlinearity gnl gfsr = 2000 0.1 %fs cross axis gca absolute, t a = +25c (note 6) -5 1 +5 % relative to the accelerometer reference system, t a = +25c -3 1 +3 linear acceleration effect glae 1g static applied, t a = +25c 0.05 dps/g startup time from power down gstpd 25 45 ms startup time from standby (note 7) gsts godr = 8khz, gbwl = 400hz 4 ms output data rate godr user selectable, low-noise mode 5 8000 hz user selectable, low-power mode 5 200 odr accuracy godra t a = +25c -10 +10 % mechanical characteristics (note 2) max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 4 downloaded from: http:///
(v dd = v ddio = 1.8v, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c.) (note 2) parameter symbol conditions min typ max units lowpass bandwidth (note 8) gbwl 2 2000 hz highpass bandwidth (note 9) gbwh 0.1 100 hz phase delay at 10hz gpd godr = 8khz gbwl = 2khz 1.78 deg self-test output shift gsto x, z axis, t a = +25c +8 +50 %fs y axis, t a = +25c -50 -8 accelerometer full-scale range afsr user selectable 2 g 48 16 noise density (note 6) and low-noise mode, afsr = 2g, t a = +25c 100 185 g/hz rms noise arms low-noise mode, aodr = 2000hz, abwl = aodr/3, afsr = 2g 2.6 mg rms armse low-power mode, aodr = 100hz, abwl = aodr/3, afsr = 2g, 8 averages 2.7 sensitivity as afs = 2g 15 digit/mg afs = 4g 7.5 afs = 8g 3.75 afs = 16g 1.875 sensitivity error ase afs = 2g, t a = +25c -2.5 +2.5 % sensitivity drift over temperature (note 6) asdt afsr = 2g -0.028 +0.028 %/c zero g level error at component level azglec afsr = 2g, x, y axes, t a = +25c -90 +90 mg afsr = 2g, z axis, t a = +25c -120 +120 zero g level error at board level (notes 6, 10) azgle afsr = 2g, x, y axes, t a = +25c -120 +120 mg afsr = 2g, z axis, t a = +25c -180 +180 zero g level drift over temperature (note 6) azgldt afsr = 2g, x, y, z axes -2.25 +2.25 mg/c nonlinearity anl afsr = 2g 0.5 %fs cross axis agca afsr = 2g 1 % output data rate aodr user selectable, low-noise mode 5 2000 hz user selectable, low-power mode 5 400 odr accuracy aodra t a = +25c -10 +10 % mechanical characteristics (continued) (note 2) max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 5 downloaded from: http:///
(v dd = v ddio = 1.8v, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c.) (note 2) mechanical characteristics (continued) (note 2) parameter symbol conditions min typ max units lowpass bandwidth (note 8) abwl low-noise mode aodr/48 aodr/3 hz low-power mode aodr/48 aodr/2 highpass bandwidth (note 9) abwh aodr/400 aodr/50 hz self-test output shift asto t a = +25c 80 800 mg temperature sensor sensitivity tss 8 bit 1 digit/c 16 bit 256 digit/c sensitivity error tsse 2 % output at +25c tso 8 bit 25 digit 16 bit 6400 bandwidth tsbw 4 hz parameter symbol conditions min typ max units esd protection human body model hbm 2000 v charged device model cdm 500 v ios dc specifications (note 6) input threshold low v il 0.3 x v ddio v input threshold high v ih 0.7 x v ddio v hysteresis of schmitt trigger input v hys 0.05 x v ddio v input leakage current i lk -1 +1 a i 2 c internal pullup resistance (note 11) r i2cpu 4.5 10 k? spi slave timing values (note 12) clk frequency f c_clk 10 mhz cs setup time t su_cs 10 ns cs hold time t h_cs 15 ns sdi input setup time t su_sdi 10 ns sdi input hold time t h_sdi 15 ns clk fall to sdo valid output time t v_sdo 40 ns sdo output hold time t h_sdo 5 ns interface speciications (note 2) max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 6 downloaded from: http:///
note 2: limits are 100% tested at t a = +25c. limits over the operating temperature range and relevant supply voltage range are guaranteed by design and characterization. note 3: v ddio must be lower or equal than v dd supply for normal operation. with v ddio supplied and v dd not supplied, the i/o pads are in high impedance. parameter symbol conditions min typ max units i 2 c timing values (note 6) scl clock frequency f scl standard mode 100 khz fast mode 400 hold time (repeated) start condition t hd;sta standard mode 4 s fast mode 0.6 low period of scl clock t low standard mode 4.7 s fast mode 1.3 high period of scl clock t high standard mode 4.0 s fast mode 0.6 setup time for a repeated start condition t su;sta standard mode 4.7 s fast mode 0.6 data hold time t hd;dat standard mode 0 s fast mode 0 data setup time t su;dat standard mode 250 ns fast mode 100 setup time for stop condition t su;sto standard mode 4.0 s fast mode 0.6 bus free time between a stop and a start condition t buf standard mode 4.7 s fast mode 1.3 data valid time t vd;dat standard mode 3.45 s fast mode 0.9 data valid acknowledge time t vd;ack standard mode 3.45 s fast mode 0.9 i 2 c timing values (high-speed mode, note 6) sclh clock frequency f sclh hs mode 3.4 mhz setup time for a repeated start condition t su;sta hs mode 160 ns hold time (repeated) start condition t hd;sta hs mode 160 ns low period of scl clock t low hs mode 160 ns high period of scl clock t high hs mode 100 ns data setup time t su;dat hs mode 10 ns data hold time t hd;dat hs mode 0 70 ns setup time for stop condition t su;sto hs mode 160 ns interface speciications (continued) (note 2) max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 7 downloaded from: http:///
note 4: in low-power mode, the gyroscope has higher rate noise density, but lower current consumption. in this condition, the gyro selectable output data rate (odr) ranges from 5hz to 200hz. note 5: in low-power mode, the accelerometer has higher noise density, but lower current consumption. in this condition, the selectable output data rate (odr) of the accelerometer ranges from 5hz to 400hz. note 6: guaranteed by design, not production tested. note 7: in standby, only the gyro drive circuit is powered on, and in this condition, the outputs are not available. in this condition, the startup time depends only on the filters responses. note 8: user selectable. note 9: enable/disable with user-selectable bandwidth. note 10: values after msl3 preconditioning and 3 reflow cycles. note 11: pullup resistances are user selectable. note 12: 10pf load on spi lines. min max based on characterization results. t h_so cs clk sdi sdo t su_cs t csw t h_cs 1 2 8 9 10 t su_si t c_clk hi-z t h_si t v_sdo hi-z cs clk sdi sdo 1 t su_cs t su_si t h_si t h_cs 2 t csw 8 9 10 t c_clk hi-z t v_sdi hi-z spi timing 4-wire spi mode 3-wire spi mode max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 8 downloaded from: http:///
t su;dat t vd;dat t hd;dat t hd;sta t su;sta v il = 0.3v dd v ih = 0.7v dd t low t buf t su;sto t vd;ack 9th clock 9th clock 002aac938 1/f scl 1st clock cycle t high 70%30% 70% 30% 70% 30% 70% 30% 70% 30% 70% 70% s sr s p sclscl sda sda 30% 30% cont.cont. t f t r t r t hd;sta t f = mcs current source pullup sclh sdah = r p resistor pullup t low t low t rcl t rcl1 sr p t fcl t su;dat t su;sto t hd;dat t hd;sta t su;sta t fda t rda sr t rcl1 t high t high (1) (1) (1) first rising edge of the sclh signal after sr and after each acknowledge bit. i 2 c high-speed diagram i 2 c timing standard/fast mode i 2 c bus timing high-speed mode i 2 c bus timing max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 9 downloaded from: http:///
pin name function 1 v ddio interface and interrupt pad supply voltage 2, 3, 15, 16 n.c. not connected internally 4 scl_clk spi and i 2 c slave clock. when in i 2 c mode, the io has selectable antispike ilter and delay to ensure correct hold time. 5 gnd power-supply ground. 6 sda_sdi_o spi in/out pin and i 2 c slave serial data. when in i 2 c mode, the io has selectable antispike ilter and delay to ensure correct hold time. 7 sa0_sdo spi serial data out and i 2 c slave address lsb 8 cs spi chip select/serial interface selection 9 int2 second interrupt line 10 rsv0 reserved. must be connected to gnd. 11 int1 first interrupt line 12 rsv1 reserved. must be left unconnected or connected to gnd. 13 regd internal regulator output 2.2v max. a 100nf capacitor has to be connected to this pin for ensuring proper device operation. 14 v dd analog power supply. bypass to gnd with a 0.1f capacitor. top view max21105 lga int2 rsv0 int1 rsv1 regd gnd scl_clk n.c. n.c. v ddio 5 4 3 2 1 9 10 11 12 13 15 14 16 8 7 6 cs sda_sdi_o v dd n.c. n.c. sa0_sdo + pin description pin coniguration max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 10 downloaded from: http:///
detailed description the max21105 is a low-power, low voltage, small pack - age 6-axis inertial measurement unit that provides unprecedented accuracy and stability over temperature and time. the max21105 integrates a 3-axis gyroscope and 3-axis linear accelerometer in a 3mm x 3mm x 0.83mm package capable of working with a supply voltage as low as 1.71v. they include a sensing element and an ic interface capable of providing the measured angular rate and acceleration to the external world through a digital inter - face (i 2 c/spi). the max21105 sensor data can be stored into a 512- byte, fully configurable, embedded fifo. the max21105 features a wide selection of dynamically selectable power modes that allow the user to optimize the system power consumption based on the application needs. the max21105 has a full scale of 250/500/1000/2000 dps for gyroscope and 2/4/8/16g for accelerometer. it is capable of measuring angular rates and accelerations with a user-selectable bandwidth. the max21105 is available in a 3mm x 3mm x 0.83mm 16-lead plastic land grid array (lga) package and oper - ate over the -40c to +85c temperature range. deinitions power supply [v] : this parameter defines the operat - ing dc power-supply voltage range of the 6dof inertial measurement unit. although it is always a good practice to keep v dd clean with minimum ripple, unlike most of the competitors, who require an ultra-low noise, low-dropout regulator to power the device, the max21105 can operate at 1.71v, but that supply can also be provided by a switch - ing regulator to minimize the system power consumption. current consumption in low-noise mode [ma] : this parameter defines the typical current consumption when the 6dof inertial measurement unit is operating with the lowest noise for both the accelerometer and gyroscope. current consumption in low-power mode [ma] : this parameter defines the current consumption when the 6dof inertial measurement unit is in low-power mode. whilst in low-power mode, the max21105 significantly reduces power consumption, but increase noise. current consumption in power-down mode [a] : this parameter defines the current consumption when the 6dof inertial measurement unit is powered down. in this mode, both the mechanical sensing structure and read - ing chain are turned off. users can configure the control register through the i 2 c/spi interface for this mode. full access to the control registers through the i 2 c/spi inter - faces is also guaranteed in power-down mode. gyroscope full-scale range [dps]: this parameter defines the measurement range of the gyroscope in degrees per second (dps). when the applied angular rate is beyond the full-scale range, the gyroscope output becomes saturated. zero-rate level [dps] : this parameter defines the dc device output when there is no external angular rate applied to the gyroscope. gyroscope sensitivity [digit/dps] : sensitivity is the relationship between 1 lsb and dps. it can be used to convert a digital gyroscopes measurement from digits to angular rate. zero-rate level change vs. temperature [dps/c] : this parameter defines the zero-rate level change in dps/c over the operating temperature range. gyroscope sensitivity change vs. temperature [%/c] : this parameter defines the gyroscope sensitivity change as a percentage (%) over the operating temperature range specified in the data sheet. gyroscope nonlinearity [% fs] : this parameter defines the maximum absolute difference between the gyroscope output and the best-fit straight line as a percentage of the gyroscope full-scale (gfs) range. gyroscope bandwidth [hz] : this parameter defines the frequency of the angular rate signal from dc to the built- in bandwidth (gbwl) that the gyroscope can measure. a dedicated register can be used to select the gyroscope bandwidth. rate noise density [dps/hz] : this parameter defines the square root of the equivalent noise power density of the gyroscope angular rate. accelerometer full-scale range [g] : this parameter defines the measurement range of the accelerometer in g. when the applied acceleration is beyond the full-scale range, the accelerometer output becomes saturated. zero-g level [mg] : this parameter defines the dc device output when there is no external acceleration applied to the accelerometer. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 11 downloaded from: http:///
accelerometer sensitivity [digit/g] : sensitivity is the relationship between lsb and g. it can be used to convert a digital acceleration measurement from digits to g. zero-g level change vs. temperature [mg/c] : this parameter defines the zero-g level change in mg/c over the operating temperature range. accelerometer sensitivity change vs. temperature [%/c] : this parameter defines the accelerometer sen - sitivity change as a percentage (%) over the operating temperature range specified in the data sheet. accelerometer nonlinearity [% fs] : this parameter defines the maximum absolute difference between the accelerometer output and the best-fit straight line as a percentage of the full-scale (fs) range. accelerometer bandwidth [hz] : this parameter defines the frequency of the acceleration signal from dc to the built-in bandwidth (abwl) that the accelerometer can measure. a dedicated register can be used to select the accelerometer bandwidth. accelerometer noise density [g/hz] : this parameter defines the square root of the equivalent noise power density of accelerometer linear acceleration. max21105 architecture the max21105 comprises the following key blocks and functions: 3-axis mems gyroscope sensor with 16-bit adcs and signal conditioning 3-axis mems accelerometer sensor with 16-bit adcs and signal conditioning slave i 2 c and spi serial communications interfaces interrupt generators digital output temperature sensor power management enabling different power modes sensor data registers fifo self-test functionality three-axis mems gyroscope with 16-bit adcs and signal conditioning the max21105 includes a mems gyroscope that detects angular rates around the x, y, and z axes through the related ic interface. when the gyroscope rotates around any of the sensing axes, the coriolis force determines a displacement in the mems structure, which is detected as a capacitive variation. the resulting signal is then processed by the 16-bit adc to produce a digital output proportional to the angular rate. the gyro full-scale range can be digitally programmed at 250, 500, 1000 or 2000 dps. three-axis mems accelerometer sensor with 16-bit adcs and signal conditioning the max21105 includes a mems accelerometer that detects linear accelerations along the x, y, and z axes. the acceleration applied to one of the sensing axes causes a displacement of the mems structure which is detected as a capacitive variation. the signal is then con - verted in the digital domain by 16-bit adc and is available to the user as a digital output proportional to the applied acceleration. the accelerometer full-scale range can be digitally programmed at 2, 4, 8 or 16 g. slave i 2 c and spi serial communications interfaces the registers embedded inside the max21105 can be accessed through both the slave i 2 c and spi serial inter - faces. the latter can be sw configured to operate either in 3-wire or 4-wire interface mode. the serial interfaces are mapped onto the same pins. to select/exploit the i 2 c interface, cs line must be tied high (i.e., connected to v ddio ). i 2 c interface i 2 c 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 i 2 c 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. the max21105 operates as a slave device when com - municating to the system processor, which thus acts as the master. sda and scl lines typically need pull-up resistors to v ddio . the maximum bus speed is 3.4mhz (i 2 c hs); this reduces the amount of time the system processor is kept busy in supporting the exchange of data. the slave address of the max21105 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 max21105s to be connected on the same i 2 c bus. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 12 downloaded from: http:///
when used in this configuration, the address of one of the two devices should be b1011000 (pin sa0_sd0 is set to logic low) and the address of the other should be b1011001 (pin sa0_sd0 is set to logic-high). spi interface the max21105 spi can operate up to 10mhz, in both 3-wires (half duplex) and 4-wires mode (full duplex). it is recommended to set the i2c_off bit at address 0x16 if the max21105 is used together with other spi devices to avoid the possibility to switch inadvertently into i 2 c mode when traffic is detected with the cs unasserted. the max21105 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 fall - ing edges of clk. the first bit (bit 0) starts at the first falling edge of clk after the falling edge of cs while the last bit (bit 15, bit 23, etc.) starts at the last falling edge of clk just before the rising edge of cs. bit 0: rw bit. when 0, the data di(7:0) is written to the device. when 1, the data do(7:0) from the device is read. in the latter case, the chip drives sdo at the start of bit 8. bit 1: ms bit. depending on the configuration of if_ parity this bit may either be used to operate in multi- addressing standard mode or to check the parity with the register address. if used as a ms bit, when 1, the address remains unchanged in multiple read/write commands, whilst when 0, the address is autoincremented in multiple read/write commands. bit 2C7: address ad(5:0). this is the address field of the indexed register. bit 8C15: data di(7:0) (write mode). this is the data that is written to the device (msb first).bit 8C15: data do(7:0) (read mode). this is the data that is read from the device (msb first).spi half- and full-duplex operation the max21105 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 reg - ister bit called spi_3_wire into i2c_cfg (0x16) to 0 for full-duplex, and 1 for half-duplex operation. full duplex is the power-on default. full-duplex operation the max21105 is put into full-duplex mode at power-up. when the spi master clears the spi_3_wire bit, the spi interface 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 max21105. the max21105 makes use of this feature by clocking out 8 output data bits as the command byte is clocked in. table 1. digital interface pin description table 2. i 2 c address name description cs spi enable and i2c/spi mode selection (1: i 2 c mode, 0: spi enabled) scl/clk spi and i 2 c clock. when in i 2 c mode, the io has selectable anti-spike ilter and delay to ensure correct hold time. sda/sdi/sdo spi in/out pin and i 2 c serial data. when in i 2 c mode, the io has selectable antispike ilter and delay to ensure correct hold time. sdo/sa0 spi serial data out or i 2 c slave address lsb i 2 c base address sa0/sdo pin r/w bit resulting address 0x2c (6 bit) 0 0 0xb0 0x2c 0 1 0xb1 0x2c 1 0 0xb2 0x2c 1 1 0xb3 max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 13 downloaded from: http:///
reading from the spi slave interface (sdo) the spi master reads data from the max21105 slave interface using the following steps: 1) when cs is high, the max21105 is unselected and three-states the sdo output. 2) after driving scl_clk to its inactive state, the spi master selects the max21105 by driving cs low. 3) the spi master clocks the command byte into the max21105. the spi read command is performed with 16 clock pulses. multiple byte read command is per - formed adding blocks of 8 clock pulses at the previous one. bit 0: read bit. the value is 1. bit 1: ms bit. when 1, do not increment address, when 0, increment address in multiple reading. bit 2C7: address ad(5:0). this is the address field of the indexed register. bit 8C15: data do(7:0) (read mode). this is the data that is read from the device (msb first). bit 16C... : data do(...-8). further data in multiple byte reading. after 16 clock cycles, the master can drive cs high to deselect the max21105, causing it to three- state its sdo output. the falling edge of the clock puts the msb of the next data byte in the sequence on the sdo output. 4) by keeping cs low, the master clocks register data bytes out of the max21105 by continuing to supply scl_clk pulses (burst mode). the master terminates the transfer by driving cs high. the master must ensure that scl_clk is in its inactive state at the beginning of the next access (when it drives cs low). writing to the spi slave interface (sdi) the spi master writes data to the max21105 slave inter - face through the following steps: 1) the spi master sets the clock to its inactive state. while cs is high, the master can drive the sdi input. 2) the spi master selects the max21105 by driving cs low 3) the spi master clocks the command byte into the max21105. the spi write command is performed with 16 clock pulses. multiple byte write command is performed adding blocks of 8 clock pulses at the previous one. bit 0: write bit. the value is 0. bit 1: ms bit. when 1, do not increment address, when 0, increment address in multiple writing. bit 2C7: address ad(5:0). this is the address field of the indexed register. bit 8C15: data di(7:0) (write mode). this is the data that is written inside the device (msb first). bit 16C... : data di(...-8). further data in multiple byte writing. 4) by keeping cs low, the master clocks data bytes into the max21105 by continuing to supply scl_clk pulses (burst mode). the master terminates the trans - fer by driving cs high. the master must ensure that scl_clk is inactive at the beginning of the next access (when it drives cs low). half-duplex operation when the spi master sets spi_3_wire = 1, the max21105 is put into half-duplex mode. in half-duplex mode, the max21105 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 accesses a max21105 regis - ter 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. 1) the spi master selects the max21105 by driving cs low and placing the first data bit (msb) to write on the sdi input. 2) the spi master turns on its output driver and clocks the command byte into the max21105. the spi read command is performed with 16 clock pulses: bit 0: read bit. the value is 1. bit 1: ms bit. when 1, do not increment address, when 0, increment address in multiple reading. bit 2-7: address ad(5:0). this is the address field of the indexed register. bit 8-15: data do(7:0) (read mode). this is the data that is read from the device (msb first). multiple read command is also available in 3-wire mode. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 14 downloaded from: http:///
interrupt generators the max21105 offers two completely independent inter - rupt generators, to ease the sw management of the interrupt generated. for instance, one line could be used to signal a data_ready event whilst the other line might be used, for instance, to notify the completion of the inter - nal start-up sequence. interrupt functionality can be configured through the interrupt configuration registers. configurable items include the int pin level and duration, the clearing meth - od as well as the required triggers for the interrupts.the interrupt status can be read from the interrupt status registers. the event that has generated an interrupt is available in both forms: latched and unlatched. interrupt sources may be enabled/ disabled and cleared individually. the list of possible interrupt sources includes the following conditions: data_ready, fifo_ empty, fifo_threshold, fifo_overrun, otp_ download. 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). digital-output temperature sensor an digital output temperature sensor is used to measure the max21105 die temperature. the readings from the adc can be accessed from the sensor data registers. 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. by reading the lsb, the accuracy is greatly increased, up to 256 digit/c. power modes the max21105 features nine power modes, allowing selecting the appropriate tradeoff between power con - sumption, noise level, accuracy and turn-on time. the transition between different power modes can be con - trolled with the software by explicitly setting a power mode in the configuration register. gyro low-noise mode in gyro low-noise mode, only the gyro is switched on and it is operational with minimum noise level. gyro low-power mode in this power mode, only the gyro is switched on and it is operating in low-power mode. the low-power mode allows to reduce power consumption with the same sen - sor accuracy at the price of a higher rate noise density. this unique max21105 features can be activated for the gyro with different odr from 5hz to 200hz. gyro standby mode to reduce power consumption and have a shorter turn- on time, the ic features a standby mode for the gyro. in standby mode, the max21105 gyro does not gen - erate data because a significant portion of the signal processing resources is turned off to save power. still, this mode enables a much quicker turn-on time. acc low-noise mode in acc low-noise mode, only the accelerometer is switched on. it is operational with minimum noise level. acc low-power mode in this power mode, only the accelerometer is switched on, and it is operating in low-power mode. the low-power mode allows to reduce power consumption with the same sensor accuracy at the price of a higher accelerometer noise density. this feature can be activated for accelerometer with dif - ferent odr from 5hz to 400hz.power-down mode 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 neither sensor can generate new data. compared to standby mode, it takes longer to activate the ic and start collecting data from the sensors. sensor data output registers the sensor data registers contain the latest gyroscope, accelerometer, and temperature measurement data. they are read-only registers and are accessed through the serial interface. data from these registers can be read at anytime. however, the interrupt function can be used to determine when new data is available. fifo the max21105 embeds a 512-byte data fifo. the user can flexibly select the set of axis data to be stored in fifo.this allows a power saving at system level as 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. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 15 downloaded from: http:///
the fifo buffer can work according to four main modes: off, normal, interrupt, and snapshot. when configured in snapshot mode, it offers the ideal mechanism to capture the data following an external inter - rupt event. both normal and interrupt modes can be optionally configured to operate in overrun mode, depending on whether, in case of buffer underrun, newer or older data are accepted to be lost. various fifo status flags can be enabled to generate interrupt events on int1/int2 pin. fifo off mode in this mode, the fifo is turned off; data are stored only 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 through the data registers.synchronous reading in this mode, the processor reads the data set (e.g., 6 bytes for a 3 axes configuration) generated by the max21105 every time that data_ready is set. the processor must read once and only once the data set in order to avoid data inconsistencies. benefits of using this approach include the perfect recon - struction of the signals coming the max21105 with the minimum data traffic. asynchronous reading in this mode, the processor reads the data generated by the max21105, regardless the status of the data_ready flag. to minimize the error caused by different samples being read a different number of times, the access fre - quency to be used must be much higher than the selected odr. this approach normally requires a much higher bw. fifo normal mode overrun = false fifo is turned on. fifo is filled with the data at the selected output 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. only if all the data are read, the fifo restarts saving data. if communication speed is high, data loss can be prevented. to prevent a fifo-full condition, the required condi - tion is to complete the reading of the data set before the next data_ready occurs. if this condition is not guaranteed, data can be lost. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 16 downloaded from: http:///
overrun = true fifo is turned on. fifo is filled with the data at the selected odr. 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. in order to prevent a fifo_wr_full condition, the required condition is to complete the reading of the data set before the next data_ready occurs. if this condition is not guaranteed, data can be overwritten. interrupt modeoverrun = false fifo is initially disabled. data are stored only in the data registers. when an interrupt (either int_or or int_and) is generated, the fifo is turned on automatically. it stores the data at the selected odr. 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. only if all the data are read the fifo restarts saving data when a new event is generated. overrun = true fifo is initially disabled. data are stored only in the data registers. when an interrupt (either int_or or int_and) is generated, the fifo is turned on automatically. it stores the data at the selected odr. 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. in order to prevent a fifo_wr_full condition, the required condition is to complete the reading of the data set before the next data_ready occurs. if this condition is not guaranteed, data can be over - written. snapshot mode fifo is initially in normal mode with overrun enabled. when an interrupt (either int_or or int_and) is generated, the fifo switches automatically to not- overrun mode, and data stops being saved in the fifo, regardless whether the fifo is full or not. 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. only if all the data are read the fifo restarts saving data in overrun mode. table 3. power modes name description gyro low noise only gyroscope is switched on and it is operational with maximum performances. gyro low power only gyroscope is switched on and operates to reduce the average current consumption. gyro standby the gyroscope is in standby mode, the current consumption is reduced by 50%, with a shorter turn-on time. acc low noise only accelerometer is switched on and it is operational with maximum performances. acc low power only accelerometer is switched on and operates to reduce the average current consumption. gyro low-noise mode + acc low-noise mode acc and gyro are both switched on in low-noise mode. gyro low-power + acc low-noise mode acc is in low-noise mode, while the gyro is low-power mode. gyro standby + acc low-noise mode acc is in low-noise mode, while the gyro is standby mode. power-down this is the minimum power consumption mode, at the price of a longer turn-on time. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 17 downloaded from: http:///
self-test gyroscope this gyroscope embedded self-test feature can be used to verify if the gyroscope is working properly without physically rotating the device. that may be used either before or after it is assembled on a pcb. if the gyroscopes outputs are within the specified self-test values in the data sheet, then the gyroscope is working properly. accelerometer the accelerometer embedded self-test feature is used to verify the sensor functionality without physically moving the device. when this feature is enabled, an electrostatic test force is applied to the mechanical sensing element figure 1. fifo normal mode, overrun = false figure 2. fifo normal mode, overrun = true max threshold threshold threshold max level increments with new samples stored and decrements with new readings. fifo_th interrupt generated. fifo_full interrupt generated. no new data stored until the entire fifo is read. (wp-rp) = level 0 (wp-rp) = level (wp-rp) = level 0 max 0 threshold threshold threshold fifo used as circular buffer fifo used as circular buffer fifo used as circular buffer wp rp wp rp wp rp wp-rp increments with new samples stored and decrements with new readings. fifo_th interrupt generated. fifo_full interrupt generated. new incoming data would overwrite the older ones. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 18 downloaded from: http:///
and causes the moving part to move away from its origi - nal position, emulating a definite input acceleration. in this case the sensor outputs exhibit a change in their dc levels which is related to the selected full scale through the device sensitivity. the output in this self-test mode is then compared with the output data of the device when the self-test is disabled. if the absolute value of the output difference is within the minimum and maximum range of the preselected full scale range, the accelerometer is working properly. revision id the max21105 has a register used to identify the revision id of the device and to identify the specific part number. even though different part numbers may share the same who_am_i value, they would still be identified by means of different revision id values. unique serial number each max21105 device is uniquely identified by 48 bits that can be used to track the history of the sample, includ - ing manufacturing, assembly, and testing information. 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 three different user banks by properly programming address 0x22. the purpose of this structure is to limit the management of the register map addresses in the 0x00 to 0x3f range even though the number of physical registers is in excess of 64. refer to the max21105 user guide for a complete register map structure. figure 3. fifo interrupt mode, overrun = false threshold threshold threshold level 0 max (wp-rp) = level 0 (wp-rp) = level 0 0 (wp-rp) = level max max fifo initially off. when the programmed interrupt occurs, turn fifo on. level increments with new samples stored and decrements with new readings. fifo_th interrupt generated. fifo_full interrupt generated. no new data stored until the entire fifo is read. max max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 19 downloaded from: http:///
orientation of axes figure 6 and figure 7 show the orientation of the axes of sensitivity and the polarity of rotation and linear accelera - tion. note the pin 1 identifier () in the figure. soldering information application notesbypass v dd and v ddio to the ground plane with 0.1f ceramic chip capacitors on each pin as close as possible to the device to minimize parasitic inductance. connect to regd 100nf ceramic chip capacitor as close as possible to the max21105 to minimize parasitic inductance. depending on the specific application board, an additional bulk decoupling capacitor to v dd and v ddio might be needed. for best performance, keep separate v dd and v ddio power supplies. figure 4. fifo interrupt mode, overrun = true threshold threshold fifo initially off. when the programmed interrupt occurs, turn fifo on. level 0 max wp = rp rp rp wp wp threshold wp-rp increments with new samples stored and decrements with new readings. fifo_th interrupt generated. fifo_full interrupt generated. new incoming data would overwrite the older ones. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 20 downloaded from: http:///
figure 5. fifo snapshot mode threshold threshold threshold wp rp wp rp max wp rp fifo used as circular buffer fifo used as circular buffer fifo used as circular buffer max threshold max threshold 0 threshold snapshot captured interrupt (wp-rp) = level 0 (wp-rp) = level (wp-rp) = level 0 figure 6. orientation of gyro axes ? z ? x ? y figure 7 orientation of accelerometer axes a cc-z a cc-y a cc-x max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 21 downloaded from: http:///
+denotes a lead(pb)-free/rohs-compliant package. t = tape and reel. part temp range pin-package max21105ele+ -40c to +85c 16 lga max21105ele+t -40c to +85c 16 lga table 8. bill of materials for external components component label specification quantity v dd /v ddio bypass capacitor c1 ceramic, x7r, 100nf 10%, 4v 2 regd capacitor c2 ceramic, x7r, 100nf 10%, 2v 1 pullup resistor (i 2 c mode only) r pu 1.1k?/10k? (min/max) 2 main application processor max21105 1 2 3 4 5 6 7 8 13 12 11 10 9 16 15 14 regd rsv1 n.c. v dd sclk mosimiso int1 int2 cs n.c. int1 rsv0 int2 cs sa0_sdo sda_sdi_o gnd scl_clk n.c. n.c. v ddio + v ddio c1 v dd c2 spi mode c1 ordering information recommended application schematics (continued) max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 22 downloaded from: http:///
package type package code outline no. land pattern no. 16 lga l1633mk+3 21-0660 90-0396 package information for the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages . note that a +, #, or - in the package code indicates rohs status only. package drawings may show a different suffix character, but the drawing pertains to the package regardless of rohs status. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 23 downloaded from: http:///
package information (continued) for the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages . note that a +, #, or - in the package code indicates rohs status only. package drawings may show a different suffix character, but the drawing pertains to the package regardless of rohs status. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 24 downloaded from: http:///
package information (continued) for the latest package outline information and land patterns (footprints), go to www.maximintegrated.com/packages . note that a +, #, or - in the package code indicates rohs status only. package drawings may show a different suffix character, but the drawing pertains to the package regardless of rohs status. max21105 low-power, ultra-accurate 6 dof imu www.maximintegrated.com maxim integrated 25 downloaded from: http:///
revision number revision date description pages changed 0 12/14 initial release revision history 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 speciications without n otice 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. max21105 low-power, ultra-accurate 6 dof imu ? 2014 maxim integrated products, inc. 26 for pricing, delivery, and ordering information, please contact maxim direct at 1-888-629-4642, or visit maxim integrateds website at www.maximintegrated.com. downloaded from: http:///

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