MAX21003+T [MAXIM]
Analog Circuit, 1 Func, BICMOS, PBGA16, 3 X 3 MM, 0.90 MM HEIGHT, ROHS COMPLIANT, PLASTIC, LGA-16;![MAX21003+T](http://pdffile.icpdf.com/pdf2/p00311/img/icpdf/MAX21003-T_1870683_icpdf.jpg)
型号: | MAX21003+T |
厂家: | ![]() |
描述: | Analog Circuit, 1 Func, BICMOS, PBGA16, 3 X 3 MM, 0.90 MM HEIGHT, ROHS COMPLIANT, PLASTIC, LGA-16 信息通信管理 |
文件: | 总28页 (文件大小:1250K) |
中文: | 中文翻译 | 下载: | 下载PDF数据表文档文件 |
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EVALUATION KIT AVAILABLE
MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
●
UnprecedentedꢀAccuracy
General Description
•ꢀ EmbeddedꢀDigital-OutputꢀTemperatureꢀSensor
•ꢀ AutomaticꢀTemperatureꢀCompensation
•ꢀ Ultra-StableꢀOverꢀTemperatureꢀandꢀTime
•ꢀ FactoryꢀCalibrated
The MAX21003 is a low power, low noise, dual-axis angu-
lar 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
●
High-SpeedꢀInterface
2
•ꢀ I CꢀStandandꢀ(100kHz),ꢀFastꢀ(400kHz),ꢀand
2
external world through a digital interface (I C/SPI).
High-Speedꢀ(3.4MHz)ꢀSerialꢀInterface
•ꢀ 10MHzꢀSPIꢀInterface
The IC has a full scale of ±31.25/±62.50/±125/±250/
±500/±1000 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 optical image stabilization (OIS) applications.
•ꢀ ReducesꢀAPꢀLoad
•ꢀ EnablesꢀUI/OISꢀSerialꢀInterfaceꢀMultiplexing
●
●
FlexibleꢀEmbeddedꢀFIFO
•ꢀ Size:ꢀ512ꢀBytesꢀ(256ꢀxꢀ16ꢀbits)
•ꢀ Single-ByteꢀReadingꢀAvailable
•ꢀ FourꢀDifferentꢀFIFOꢀModesꢀAvailable
•ꢀ ReducesꢀAPꢀLoad
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 -40°C to +85°C temperature range.
HighꢀConfigurability
•ꢀ IntegratedꢀDigitallyꢀProgrammableꢀLow-ꢀandꢀ
HighpassꢀFilters
•ꢀ IndependentlyꢀSelectableꢀDataꢀODRꢀandꢀInterruptꢀ
Applications
●ꢀ OpticalꢀImageꢀStabilization
●ꢀ GPSꢀNavigationꢀSystems
●ꢀ AppliancesꢀandꢀRobotics
ODR
•ꢀ 6ꢀSelectableꢀFullꢀScalesꢀ
(31.25/62.5/125/250/500/1000 dps)
•ꢀ 256-SelectableꢀODR
Features and Benefits
● Minimum Overall Footprint
● Flexible Interrupt Generator
•ꢀ TwoꢀDigitalꢀOutputꢀLines
•ꢀ 2ꢀIndependentꢀInterruptꢀGenerators
•ꢀ 8ꢀMaskableꢀInterruptꢀSourcesꢀEach
•ꢀ ConfigurableꢀasꢀLatched/Unlatched/Timed
•ꢀ EmbeddedꢀIndependentꢀAngularꢀRateꢀComparators
•ꢀ IndependentꢀThresholdꢀandꢀDuration
•ꢀ Level/PulseꢀandꢀOD/PPꢀOptionsꢀAvailable
•ꢀ Industry’sꢀSmallestꢀandꢀThinnestꢀPackageꢀforꢀ
Portable Devices (3mm x 3mm x 0.9mm LGA)
•ꢀ NoꢀExternalꢀComponents
●ꢀ UniqueꢀLow-PowerꢀCapabilities
• Low Operating Current Consumption (5.1mA typ)
•ꢀ EcoꢀModeꢀAvailableꢀatꢀ100Hzꢀwithꢀ3.0mAꢀ(typ)
•ꢀ 1.71Vꢀ(min)ꢀSupplyꢀVoltage
● Flexible Data Synchronization Pin
•ꢀ ExternalꢀWakeup
•ꢀ StandbyꢀModeꢀCurrentꢀ2.7mAꢀ(typ)
•ꢀ InterruptꢀGeneration
•ꢀ 8.5µAꢀ(typ)ꢀPower-DownꢀModeꢀCurrent
•ꢀ HighꢀPSRRꢀandꢀDC-DCꢀConverterꢀOperation
•ꢀ 45msꢀTurn-OnꢀTimeꢀfromꢀPower-DownꢀMode
•ꢀ 5msꢀTurn-OnꢀTimeꢀfromꢀStandbyꢀMode
•ꢀ SingleꢀDataꢀCaptureꢀTrigger
•ꢀ MultipleꢀDataꢀCaptureꢀTrigger
•ꢀ LSBꢀDataꢀMapping
●
●
Uniqueꢀ48-BitꢀSerialꢀNumberꢀasꢀDieꢀID
High-ShockꢀSurvivabilityꢀ(10,000ꢀG-Shock)
● OIS Suitability
•ꢀ MinimumꢀPhaseꢀDelayꢀ(~3°ꢀatꢀ10Hz)
•ꢀ HighꢀBandwidthꢀ(400Hz)
•ꢀ HighꢀODRꢀ(10kHz)
Ordering Information appears at end of data sheet.
For related parts and recommended products to use with this part, refer
to www.maximintegrated.com/MAX21003.related.
•ꢀ LowꢀNoiseꢀ(7mdps/√Hzꢀtyp)
19-6645; Rev 0; 6/13
MAX21003
Ultra-Accurate, Low Power,
Dual-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)
Junction Temperature......................................................+150°C
Operating Temperature Range........................... -40°C to +85°C
Storage Temperature Range............................ -40°C to +150°C
Lead Temperature (soldering, 10s) .................................+260°C
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, , T = -40°C to +85°C, INT1, INT2, SDA, and SCL are unconnected, unless otherwise noted. Typical values
DD
DDIO A
are at T = +25°C).
A
PARAMETER
SUPPLY AND CONSUMPTION
SYMBOL
CONDITIONS
MIN
TYP
MAX
UNITS
V
Supply Voltage
V
1.71
1.71
2.5
2.5
3.6
V
V
DD
DD
V
+
DD
0.3V
V
(Noteꢀ2)
V
DDIO
DDIO
IDD Current Consumption
NormalꢀMode
I
5.1
2.7
mA
mA
VDDN
IDD Current Consumption Standby
Modeꢀ(Noteꢀ3)
I
VDDS
200HzꢀODR
100HzꢀODR
3.3
3.0
mA
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/°C
digit/°C
Hz
Temperature Sensor Output
Change vs. Temperature
T
SDR
16 bit
Temperature BW
T
BW
At 25°C, 8 bit
25
Temperature Sensor Bias
GYROSCOPE
T
digit
BIAS
At 25°C, 16 bit
6400
±31.25
±62.5
±125
Gyro Full-Scale Range
G
Userꢀselectable
dps
FSR
±250
±500
±1000
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Electrical Characteristics (continued)
(V
= V
= 2.5V, T = -40°C to +85°C, INT1, INT2, SDA, and SCL are unconnected, unless otherwise noted. Typical values
DD
DDIO A
are at T = +25°C).
A
PARAMETER
SYMBOL
CONDITIONS
MIN
TYP
MAX
UNITS
For all the f and over the whole V
S
including 1.8V
DD
GyroꢀRateꢀNoiseꢀDensity
G
0.007
dps/√Hz
RND
GyroꢀRateꢀNoiseꢀDensityꢀinꢀ
EcoꢀMode
For all the FS and over the whole V
includingꢀ1.8Vꢀatꢀ200HzꢀODR
DD
G
0.020
dps/√Hz
Hz
SPRND
Gyro Bandwidth (Lowpass)
(Noteꢀ5)
G
2
400
100
BWL
GyroꢀBandwidthꢀ(Highpass)
(Noteꢀ6)
G
0.1
Hz
BWH
Atꢀ10Hz,ꢀ400Hzꢀbandwidth,ꢀ10kHzꢀODR
Atꢀ10Hz,ꢀ400Hzꢀbandwidth,ꢀ10kHzꢀODR
2.9
1.0
3.7
1.6
10k
Phase Delay
G
deg
PDL
Output Data Rate (Noteꢀ7)
G
5
Hz
ODR
SensitivityꢀError
G
±2
960
480
240
120
60
%
SE
SO
SD
G
G
G
G
G
G
= 31.25
= 62.5
= 125
FSR
FSR
FSR
FSR
FSR
FSR
digit/
dps
Sensitivity
G
= 250
= 500
= 1000
30
Sensitivity Drift Over Temperature
G
Maximum delta from T = +25°C
±2
%
A
ZeroꢀRateꢀLevelꢀError
G
G
G
±0.5
dps
ZRLE
ZRLD
TUPL
TUPS
Zero Rate Level Drift Over
Temperature
Maximum delta from T = +25°C
±2
45
5
dps
ms
ms
A
Startup Time from Power Down
Startup Time from Standby Mode
G
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
°/√hr
°/hr
%
ARW
G
At 1000s
IBS
G
1
XX
For GRSR = 125, 250, 500, 1000 dps,
axis X, Z
Self-Test Output
STOR
+f /2
dps
S
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Electrical Characteristics (continued)
(V
= V
= 2.5V, 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
T
T
= +25°C
= +25°C
= +25°C
V
V
V
IL
A
A
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
mA
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
10
15
10
15
SU_CS
CSꢀHoldꢀTime
t
ns
H_CS
SDI Input Setup Time
SDIꢀInputꢀHoldꢀTime
CLKꢀFallꢀtoꢀSDOꢀValidꢀOutputꢀTime
SDOꢀOutputꢀHoldꢀTime
I2C TIMING (Note 9)
t
ns
SU_SI
t
ns
H_SI
t
ns
V_SDO
T
10
ns
H_SO
Standard mode
Fast mode
0
100
400
SCL Clock Frequency
f
kHz
µs
µs
µs
µs
µs
ns
SCL
0
Standard mode
Fast mode
4.0
0.6
4.7
1.3
4.0
0.6
4.7
0.6
0
HoldꢀTimeꢀ(Repeated)ꢀSTARTꢀ
Condition
t
HD;STA
Standard mode
Fast mode
Low Period of SCL Clock
t
LOW
Standard mode
Fast mode
HighꢀPeriodꢀofꢀSCLꢀClock
t
HIGH
Standard mode
Fast mode
Setup Time for a Repeated START
Condition
t
SU;STA
HD;DAT
Standard mode
Fast mode
DataꢀHoldꢀTime
t
0
Standard mode
Fast mode
250
100
Data Setup Time
t
SU;DAT
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Electrical Characteristics (continued)
(V
= V
= 2.5V, T = -40°C to +85°C, unless otherwise noted. Typical values are at T = +25°C).
DD
DDIO A A
PARAMETER
SYMBOL
CONDITIONS
Standard mode
MIN
4.0
0.6
4.7
1.3
TYP
MAX
UNITS
Setup Time for STOP Condition
t
ns
SU;STO
Fast mode
Standard mode
Fast mode
Bus Free Time Between a STOP
and a START Condition
t
ns
ns
ns
BUF
Standard mode
Fast mode
3.45
0.9
Data Valid Time
t
VD;DAT
Standard mode
Fast mode
3.45
0.9
Data Valid Acknowledge Time
t
VD;ACK
ESD PROTECTION
HumanꢀBodyꢀModel
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: Userꢀselectable.ꢀGyroꢀbandwidthꢀaccuracyꢀisꢀ10%.
Note 6: Enable/disableꢀwithꢀuserꢀselectableꢀbandwidth.ꢀGyroꢀbandwidthꢀaccuracyꢀisꢀ10%.
Note 7: Userꢀselectableꢀwithꢀ256ꢀpossibleꢀvaluesꢀfromꢀ10kHzꢀdownꢀtoꢀ5Hz.ꢀODRꢀaccuracyꢀisꢀ±10%.
Note 8:ꢀꢀUserꢀcanꢀchooseꢀtheꢀbestꢀoutputꢀcurrentꢀbasedꢀonꢀhisꢀPCB,ꢀinterfaceꢀspeed,ꢀload,ꢀandꢀconsumption.
Note 9: Based on characterization results, not tested in production.
Note 10:ꢀBasedꢀonꢀcharacterizationꢀresults,ꢀnotꢀtestedꢀinꢀproduction.ꢀTestꢀconditionsꢀareꢀI2C_CFG[3:0]ꢀ=ꢀ1111.
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
SPI Timing Diagrams
t
SU_CS
t
CSW
CS
t
H_CS
CLK
1
2
8
9
10
11
16
t
C_CLK
t
SU_SI
SDI
t
t
t
V_SDO
H_SI
H_SO
HI-Z
HI-Z
SDO
t
SU_CS
t
CSW
CS
t
H_CS
CLK
1
2
8
9
10
11
16
t
C_CLK
t
SU_SI
SDI
t
t
V_SDI
H_SI
HI-Z
HI-Z
SDO
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
I2C Timing Diagram in Standard Mode
t
F
t
R
t
SU;DAT
70%
30%
70%
SDA
SCL
30%
cont.
t
t
VD;DAT
HD;DAT
t
F
t
HIGH
t
R
70%
30%
70%
30%
70%
30%
70%
30%
cont.
t
HD;STA
t
LOW
9th CLOCK
1/f
SCL
S
1st CLOCK CYCLE
t
BUF
SDA
SCL
t
VD;ACK
t
t
SU;STO
t
HD;STA
SU;STA
70%
30%
Sr
P
S
9th CLOCK
002aac938
V
IL
= 0.3V
DD
V
IH
= 0.7V
DD
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Typical Operating Characteristics
(V
= V
= 2.5V, T = +25°C, unless otherwise noted.)
DD
DDIO A
X-AXIS DIGITAL OUTPUT
vs. ANGULAR RATE
Z-AXIS DIGITAL OUTPUT
vs. ANGULAR RATE
30k
30k
20k
10k
0
20k
10k
0
T
A
= +85°C
T
-10k
-10k
-20k
-30k
T
A
= -40°C
T
= +25°C
T = +25°C
A
A
-20k
-30k
T
= +85°C
A
= -40°C
A
-2k
-1k
0
1k
2k
-2k
-1k
0
1k
2k
ANGULAR RATE (dps)
ANGULAR RATE (dps)
MAGNITUDE RESPONSE
PHASE RESPONSE
10
0
0
-10
-20
-30
-40
-50
-60
-70
-80
-90
BP_LPFbit = 1
BP_LPFbit = 1
-10
-20
-30
-40
-50
BW = 10Hz
BW = 10Hz
BW = 100Hz
BW = 100Hz
BW = 400Hz
BW = 400Hz
1
10
100
1k
0
100
200
300
400
500
FREQUENCY (Hz)
FREQUENCY (Hz)
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MAX21003
Ultra-Accurate, Low Power,
Dual-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.
MAX21003
N.C.
SCL_CLK
GND
RESERVED
INT2
6
7
8
LGA
(3mm x 3mm)
Pin Description
PIN
1
NAME
FUNCTION
V
Interface and Interrupt Pad Supply Voltage
DD_IO
N.C.
2, 3, 16
NotꢀInternallyꢀConnected
2
2
SPI and I C Clock. When in I Cꢀmode,ꢀtheꢀIOꢀhasꢀselectableꢀantispikeꢀfilterꢀandꢀdelayꢀtoꢀensureꢀ
4
5
6
SCL_CLK
GND
correct hold time.
Power-Supply Ground.
2
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
DataꢀSynchronizationꢀPin.ꢀUsedꢀtoꢀwakeꢀupꢀtheꢀMAX21003ꢀfromꢀpower-down/standbyꢀand
synchronize data with GPS/camera.
12
DSYNC
13
14
15
RESERVED
LeaveꢀUnconnected
V
V
AnalogꢀPowerꢀSupply.ꢀBypassꢀtoꢀGNDꢀwithꢀaꢀ0.1µFꢀcapacitorꢀandꢀoneꢀ1µFꢀcapacitor.ꢀ
DD
DD
Must be tied to V
in the application.
DD
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Functional Diagram
TIMER
MEMS
GYRO
SENSE
FILTERING
SCL_CLK
SDA_SDI_O
2
SPI/I C
SA0_SDO
SLAVE
A
A
AFE
AFE
AFE
CS
REGISTERS
AND
FIFO
A
DSYNC
GYRO
DRIVE
CONTROL
SYNC
INT1
INT2
INTERRUPTS
RING
MAX21003
OSCILLATOR
GND
V
DD
V
DD_IO
theꢀMEMSꢀgyroscope,ꢀtheꢀMAX21003ꢀcanꢀnotꢀonlyꢀoperateꢀ
at 1.71V, but that supply can also be provided by a switch-
ing regular to minimize the system power consumption.
Detailed Description
The MAX21003 is a low power, low voltage, small package
dual-axis angular rate sensor able to provide unprecedent-
ed accuracy and sensitivity over temperature and time.
Power-supply current (mA): This parameter defines the
typicalꢀcurrentꢀconsumptionꢀwhenꢀtheꢀMEMSꢀgyroscopeꢀ
is operating in normal mode.
TheꢀICꢀisꢀalsoꢀtheꢀindustry’sꢀfirstꢀgyroscopeꢀavailableꢀinꢀaꢀ
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 ±31.25/±62.5/±125/±250/±500/
±1000 dps for OIS. It measures rates with a user-select-
able 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. Whilst
in eco mode, the MAX21003 significantly reduces 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 -40°C to
+85°C temperature range.
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
areꢀ turnedꢀ off.ꢀ Usersꢀ canꢀ configureꢀ theꢀ controlꢀ registerꢀ
through the I2C/SPI interface for this mode. Full access
Definitions
Power supply (V): This parameter defines the operating
DCꢀpower-supplyꢀvoltageꢀrangeꢀofꢀtheꢀMEMSꢀgyroscope.ꢀ
Although it is always a good practice to keep V
with minimum ripple, unlike most of the competitors, who
require an ultra-low noise, low-dropout regulator to power
clean
DD
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
to the control registers through the I2C/SPI interface is
guaranteed also in power-down mode.
Dual-Axis MEMS Gyroscope with 16-Bit ADCs and
Signal Conditioning
The IC consistsꢀ ofꢀ aꢀ single-driveꢀ vibratoryꢀ MEMSꢀ gyro-
scope that detects rotations around the X and Z axes.
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 proportional to the angular rate. The analog-to-
digital conversion uses 16-bit ADC converters. The gyro
full-scale range can be digitally programmed to ±31.25/±
62.5/±125/±250/±500/±1000 dps.
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.
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
convertꢀ aꢀ digitalꢀ gyroscope’sꢀ measurementꢀ inꢀ LSBsꢀ toꢀ
angular velocity.
Interrupt Generators
The MAX21003 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.
Sensitivity change vs. temperature (%): This parameter
defines the sensitivity change in percentage (%) over the
operating temperature range specified in the data sheet.
Zero-rate level change vs. temperature (dps): This
parameter defines the zero-rate level change in dps over
the operating temperature 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.
Nonlinearity (% 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.
The interrupt status can be read from the Interrupt Status
Registers. The event that has generated an interrupt is
availableꢀinꢀtwoꢀforms:ꢀlatchedꢀandꢀunlatched.
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’sꢀbandwidth.
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.
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.
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).
MAX21003 Architecture
The MAX21003 comprises the following key blocks and
functions:
●ꢀ Dual-axisꢀ MEMSꢀ rateꢀ gyroscopeꢀ sensorꢀ withꢀ 16-bitꢀ
Digital-Output Temperature Sensor
ADCs and signal conditioning
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.
2
● Primary I C and SPI serial communications
interfaces
● Sensor data registers
● FIFO
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 (°C). By reading the LSB, the accuracy
is greatly increased, up to 256 digit/°C.
● Synchronization
● Interrupt generators
● Digital output temperature sensor
● Self-test
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MAX21003
Ultra-Accurate, Low Power,
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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
Thisꢀ uniqueꢀ featureꢀ canꢀ beꢀ activatedꢀ withꢀ fourꢀ ODRs:ꢀ
25Hz,ꢀ50Hz,ꢀ100Hz,ꢀandꢀ200Hz.
NAME
DESCRIPTION
2
SPI enable and I C/SPI mode selection
CS
2
(1:ꢀI Cꢀmode,ꢀ0:ꢀSPIꢀenabled)
Standby Mode
2
2
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.
SPI and I C clock. When in I C mode, the IO
hasꢀselectableꢀanti-spikeꢀfilterꢀandꢀdelayꢀtoꢀ
ensure correct hold 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
PIN
RESULTING
ADDRESS
R/W BIT
ADDRESS
0x2C (6 bit)
0x2C
Digital Interfaces
0
0
1
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
can be SW-configured to operate either in 3-wire or 4-wire
interface mode.
0x2C
0x2C
The serial interfaces are mapped onto the same pins. To
2
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
.ꢀTheꢀmaximumꢀbusꢀspeedꢀisꢀ3.4MHzꢀ(I2CꢀHS);ꢀ
this reduces the amount of time the system processor is
kept busy in supporting the exchange of data.
(i.e., connected to V
).
DDIO
2
I C Interface
to V
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.
DDIO
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 MAX21003s 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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MAX21003
Ultra-Accurate, Low Power,
Dual-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
theꢀ SPIꢀ masterꢀ clearsꢀ theꢀ SPI_3_WIREꢀ bit,ꢀ theꢀ SPIꢀ
interface uses separate data pins, MOSI and MISO 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’sꢀSPIꢀcanꢀoperateꢀupꢀtoꢀ20MHz,ꢀ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 (MOSI)
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
usingꢀtheꢀfollowingꢀsteps:
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 MISO 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 IC The SPI Read command is performed
with 16 clock pulses. Multiple byte read command is
performed adding blocks of 8 clock pulses at the previ-
ous 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 MISO out-
put. The falling edge of the clock puts the MSB of the
next data byte in the sequence on the MISO 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 called
SPI_3_WIREꢀ intoꢀ ITF_OTPꢀ toꢀ 0ꢀ forꢀ full-duplex,ꢀ andꢀ 1ꢀ forꢀ
half-duplex operation. Full duplex is the power-on default.
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MAX21003
Ultra-Accurate, Low Power,
Dual-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
Bit 1: MS bit. When 1, do not increment address.
throughꢀtheꢀfollowingꢀsteps:
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 MOSI input.
Bit 2–7:ꢀAddressꢀAD[5:0].ꢀThisꢀisꢀtheꢀaddressꢀfieldꢀofꢀ
the indexed register.
2) The SPI master selects the IC 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
ofꢀtheꢀthreeꢀoutputꢀchannels:ꢀyawꢀandꢀpitch.ꢀThisꢀallowsꢀaꢀ
consistent power saving for the system since the host pro-
cessor 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 mechanism 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 MISO during the first 8 bits (the command
byte), and subsequently outputs zeros on MISO as the
SPI master clocks bytes into MOSI.
Thisꢀbufferꢀcanꢀworkꢀaccordingꢀtoꢀfourꢀmainꢀmodes:ꢀ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 MISO pin and makes the MOSI pin bidirectional,
saving a pin in the SPI interface. The MISO pin can be
left unconnected in half-duplex operation. The SPI master
must operate the MOSI pin as bidirectional. It accesses a
ICꢀregisterꢀasꢀfollows:ꢀtheꢀMOSIꢀmasterꢀsetsꢀtheꢀclockꢀtoꢀ
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
optionsꢀ toꢀ useꢀ theꢀ device:ꢀ synchronousꢀ andꢀ 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., 4
bytes for a 2 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
performedꢀwithꢀ16ꢀclockꢀpulses:
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MAX21003
Ultra-Accurate, Low Power,
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data rate (ODR).
Benefits of using this approach include the perfect recon-
struction of the signal coming from the gyroscope and
minimum data traffic.
● 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 con-
dition 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
255
255
(WP-RP)
=
LEVEL
(WP-RP)
=
LEVEL
(WP-RP)
=
LEVEL
THRESHOLD
THRESHOLD
THRESHOLD
0
0
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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Ultra-Accurate, Low Power,
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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 con-
dition 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
WP
RP
THRESHOLD
THRESHOLD
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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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
MAX
FIFO INITIALLY OFF.
WHEN THE
PROGRAMMED RATE
INTERRUPT OCCURS,
TURN FIFO ON.
LEVEL
0
MAX
MAX
MAX
(WP-RP)
=
LEVEL
(WP-RP)
=
LEVEL
THRESHOLD
THRESHOLD
THRESHOLD
(WP-RP)
=
LEVEL
0
0
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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MAX21003
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
WP
THRESHOLD
THRESHOLD
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
Maxim Integrated
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
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
WP
RP
THRESHOLD
THRESHOLD
THRESHOLD
WP
RP
RATE INTERRUPT
MAX
SNAPSHOT CAPTURED
MAX
MAX
(WP-RP)
=
LEVEL
(WP-RP)
=
LEVEL
(WP-RP)
THRESHOLD
THRESHOLD
THRESHOLD
=
LEVEL
0
0
0
Figure 5. FIFO Snapshot Mode
Maxim Integrated
│ 19
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
based on the software management performed by an
external processor.
Bias Instability and Angular Random Walk
Bias instability is a critical performance parameter for
gyroscopes. The IC provides a typical bias instability of
4°/hourꢀonꢀeachꢀaxisꢀandꢀanꢀARWꢀofꢀ0.45°/√hour,ꢀmea-
sured 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
Unique Serial Number
Theꢀ DSYNCꢀ pinꢀ enablesꢀ aꢀ numberꢀ ofꢀ synchronizationꢀ
options.
EachꢀICꢀisꢀuniquelyꢀidentifiedꢀbyꢀ48ꢀbitsꢀthatꢀcanꢀbeꢀusedꢀ
to track the history of the sample, including manufactur-
ing, assembly, and testing information.
Wake-Up Feature
Revision ID
TheꢀDSYNCꢀpinꢀcanꢀbeꢀusedꢀtoꢀwake-upꢀtheꢀICꢀfromꢀtheꢀ
power-down or suspend mode. Repeatedly changing
DSYNCꢀfromꢀactiveꢀtoꢀnotꢀactiveꢀandꢀvice-versaꢀcanꢀbeꢀ
used to control the power mode of the MAX21003 using
an external controlling device, be it a microprocessor,
another sensor or a different kind of device.
The IC has a register used to identify the revision ID
of the device and to identify the specific part number.
Evenꢀthoughꢀdifferentꢀpartꢀnumbersꢀmayꢀshareꢀtheꢀsameꢀ
WHO_AM_Iꢀvalue,ꢀtheyꢀwouldꢀstillꢀbeꢀidentifiedꢀbyꢀmeansꢀ
of different Revision ID values.
DSYNCꢀcanꢀbeꢀconfiguredꢀtoꢀactiveꢀeitherꢀHighꢀorꢀLowꢀ
and on either edge or level. This feature is controlled by a
specificꢀbitꢀinꢀtheꢀDSYNC_CFGꢀregister.
Clocking
The on-chip PLL locked to the gyroscope allows maintain-
ing the ODR within 2.5%.
Data Capture Feature
Self-Test
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.
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’sꢀoutputsꢀareꢀwithinꢀtheꢀspecifiedꢀself-testꢀvaluesꢀinꢀ
the data sheet, then the gyroscope is working properly.
Therefore, the self-test feature is an important consider-
ationꢀinꢀaꢀuser’sꢀend-productꢀmassꢀproductionꢀline.
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.
Theꢀ embeddedꢀ self-testꢀ inꢀ Maxim’sꢀ 3-axisꢀ digitalꢀ 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 Interrupt Generation
TheꢀDSYNCꢀpinꢀcanꢀalsoꢀbeꢀusedꢀasꢀanꢀinterruptꢀsourceꢀ
to determine a different kind of data synchronization
Maxim Integrated
│ 20
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MAX21003
Ultra-Accurate, Low Power,
Dual-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
0000 0000
Data
Device ID
BANK_SELECT
SYSTEM_STATUS
GYRO_X_H
GYRO_X_L
GYRO_Z_H
GYRO_Z_L
RFU
R/W
Register bank selection
R
System Status register
R
Bitsꢀ[15:8]ꢀofꢀXꢀmeasurement
Bitsꢀ[07:0]ꢀofꢀXꢀmeasurement
Bitsꢀ[15:8]ꢀofꢀZꢀmeasurement
Bitsꢀ[07:0]ꢀofꢀZꢀmeasurement
R
Data
R
Data
R
Data
R
RFU
R
TEMP_H
TEMP_L
RFU
R
Data
Bitsꢀ[15:8]ꢀofꢀTꢀmeasurement
Bitsꢀ[07:8]ꢀofꢀTꢀmeasurement
R
Data
R
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
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
R
FIFO data to be read in burst mode
Parity reset (reset on write)
W and reset
0000 0000
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
User Bank 0
Userꢀbankꢀ0ꢀisꢀtheꢀregisterꢀusedꢀtoꢀconfigureꢀmostꢀofꢀtheꢀfeaturesꢀofꢀtheꢀIC,ꢀwithꢀtheꢀexceptionꢀofꢀtheꢀinterrupts,ꢀwhichꢀ
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
RW
RW
RW
R
0000 0111
0010 1000
0010 0011
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0001
0000 0000
0000 0100
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
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
RW
RW
RW
RW
RW
R
Dataꢀreadyꢀconfiguration
Input/outputꢀconfiguration
I2Cꢀconfiguration
InterfaceꢀandꢀOTPꢀconfiguration
FIFOꢀthresholdꢀconfiguration
FIFOꢀmodeꢀconfiguration
DSYNC_CFG
DSYNC_CNT
RFU
R
DATA_SYNCꢀconfiguration
DATA_SYNCꢀcounter
R
R
RFU
R
RFU
R
RFU
R
Maxim Integrated
│ 22
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
User Bank 1
UserꢀBankꢀ1ꢀisꢀprimarilyꢀdevotedꢀtoꢀtheꢀconfigurationꢀofꢀtheꢀinterrupts.ꢀItꢀalsoꢀcontainsꢀtheꢀuniqueꢀserialꢀnumber.
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
RW
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0010 0100
0000 0000
0000 0000
0000 0000
0000 0000
1000 0000
0000 0010
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
Variable
Interrupt reference for X axis
Interrupt reference for Z axis
INT_REF_Z
RFU
INT_DEB_X
INT_DEB_Z
RFU
RW
RW
Interrupt debounce, X
Interrupt debounce, Z
INT_MSK_X
INT_MSK_Z
RFU
RW
RW
Interrupt mask, X axis zones
Interrupt mask, Z axis zones
INT_MASK_AO
INT_CFG1
INT_CFG2
INT_TMO
INT_STS_UL
INT1_STS
INT2_STS
INT1_MSK
INT2_MSK
RFU
RW
RW
RW
RW
R
Interruptꢀmasks,ꢀAND/OR
Interruptꢀconfigurationꢀ1
Interruptꢀconfigurationꢀ2
Interrupt timeout
Interrupt sources, unlatched
Interrupt 1 status, latched
Interrupt 2 status, latched
Interrupt 1 mask
R
R
RW
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
Uniqueꢀserialꢀnumber,ꢀbyteꢀ0
Uniqueꢀserialꢀnumber,ꢀbyteꢀ1
Uniqueꢀserialꢀnumber,ꢀbyteꢀ2
Uniqueꢀserialꢀnumber,ꢀbyteꢀ3
Uniqueꢀserialꢀnumber,ꢀbyteꢀ4
Uniqueꢀserialꢀnumber,ꢀbyteꢀ5
R
Variable
R
Variable
R
Variable
R
Variable
R
Variable
Maxim Integrated
│ 23
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Depending on the specific application, add at least one
Orientation of Axes
bulkꢀ 1µFꢀ decouplingꢀ capacitorꢀ toꢀ V
and V
per
DD
DDIO
The diagram below shows the orientation of the axis 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/21000.related for solder-
ing recommendations.
Table 7. Bill of Materials for External
Components
COMPONENT
LABEL SPECIFICATION QUANTITY
Application Notes
V
/V
Ceramic, X7R,
0.1µFꢀ±10%,ꢀ4V
Bypass V
and V
ꢀtoꢀtheꢀgroundꢀplaneꢀwithꢀ0.1µFꢀ
DD DDIO
DD
DDIO
C1
C2
1
1
bypass capacitor
ceramic chip capacitors on each pin as close as possible
to the IC to minimize parasitic inductance.
V
/V
Ceramic, X7R,
1µFꢀ±10%,ꢀ4V
DD DDIO
bypass capacitor
ΩZ
ΩX
Figure 6. Orientation of Axis
Maxim Integrated
│ 24
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Typical Application Circuit
TIMER
MEMS
GYRO
SENSE
FILTERING
SCL_CLK
SDA_SDI_O
2
SPI/I C
SA0_SDO
CS
SLAVE
A
A
AFE
AFE
AFE
REGISTERS
AND
FIFO
AP
A
DSYNC
GYRO
DRIVE
CONTROL
SYNC
INT1
INT2
INTERRUPTS
RING
MAX21003
OSCILLATOR
GND
V
DD
V
DD_IO
PMIC
100nF
1µF
Ordering Information
Package Information
For the latest package outline information and land patterns
(footprints), go to www.maximintegrated.com/packages.ꢀNoteꢀ
thatꢀaꢀ“+”,ꢀ“#”,ꢀorꢀ“-”ꢀinꢀtheꢀpackageꢀcodeꢀindicatesꢀRoHSꢀstatusꢀ
only. Package drawings may show a different suffix character, but
theꢀdrawingꢀpertainsꢀtoꢀtheꢀpackageꢀregardlessꢀofꢀRoHSꢀstatus.
PART
MAX21003+
MAX21003+T
TEMP RANGE
PIN-PACKAGE
16 LGA
-40°C to +85°C
-40°C to +85°C
16 LGA
+Denotes lead(Pb)-free/RoHS-compliant package.
T = Tape and reel.
Chip Information
PROCESS:ꢀBiCMOS
Maxim Integrated
│ 25
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MAX21003
Ultra-Accurate, Low Power,
Dual-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
│ 26
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MAX21003
Ultra-Accurate, Low Power,
Dual-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
│ 27
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MAX21003
Ultra-Accurate, Low Power,
Dual-Axis Digital Output Gyroscope
Revision History
REVISION REVISION
PAGES
CHANGED
DESCRIPTION
NUMBER
DATE
0
6/13
Initial release
—
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.
│ 28
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