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general description the MAX21000 is a low power, low noise, 3-axis angular rate sensor that delivers unprecedented accuracy and sensitivity over temperature and time. it operates with a supply voltage as low as 1.71v for minimum power consumption. it includes a sensing element and an ic interface that provides the measured angular rate to the external world through a digital interface (i 2 c/spi). the ic has a full scale of 31.25/62.50/125/250/ 500/1k /2k degrees per second (dps) and measures rates with a finely tunable user-selectable bandwidth. the high odr and the large bw, the low noise at highest fs, together with the low phase delay, make the ic suitable for both user interface (ui) and optical image stabilization (ois) applications. the ic is a highly integrated solution available in a com - pact 3mm x 3mm x 0.9mm plastic land grid array (lga) package and does not require any external components other than supply bypass capacitors. it can operate over the -40oc to +85oc temperature range . applications motio n control with mmi (man-machine interface) no touch ui gps navigation systems appliances and robotics motion-enabled game controllers motion-based portable gaming motion-based 3d mouse and 3d remote controls health and sports monitoring optica l image stabilization benefts and features minimum overall footprint ? industrys smallest and thinnest package for portable devices (3mm x 3mm x 0.9mm lga) ? no external components unique low-power capabilities ? low operating current consumption (5.4ma typ) ? eco mode available at 100hz with 3.0ma (typ) ? 1.71v (min) supply voltage ? standby mode current 2.7ma (typ) ? 9a (typ) power-down mode current ? high psrr and dc-dc converter operation ? 45ms turn-on time from power-down mode ? 5ms turn-on time from standby mode ois suitability ? minimum phase delay (~3o at 10hz) ? high bandwidth (400hz) ? high odr (10khz) ? low noise (9mdps/hz typ) ? four different fs in ois mode: 31.25 / 62.50/125/250 dps unprecedented accuracy and stability ? embedded digital-output temperature sensor ? automatic temperature compensation ? ultra-stable over temperature and time ? factory calibrated high-speed interface ? i 2 c standard (100khz), fast (400khz), and high-speed (3.4mhz) serial interface ? 10mhz spi interface ? reduces ap load ? enables ui/ois serial interface multiplexing flexible embedded fifo ? size: 512bytes (256 x 16 bits) ? single-byte reading available ? four different fifo modes available ? reduces ap load high configurability ? integrated digitally programmable low- and highpass filters ? independently selectable data odr and interrupt odr ? 7 selectable full scales (31.25/62.5/125/250/500/ 1000/2000 dps) ? 256 selectable odr flexible interrupt generator ? two digital output lines ? 2 independent interrupt generators ? 8 maskable interrupt sources each ? configurable as latched/unlatched/timed ? embedded independent angular rate comparators ? independent threshold and duration ? level/pulse and od/pp options available flexible data synchronization pin ? external wakeup ? interrupt generation ? single data capture trigger ? multiple data capture trigger ? lsb data mapping unique 48-bit serial number as die id high-shock survivability (10,000 g-shock) 19-6567; rev 1; 2/13 ordering information appears at end of data sheet. for related parts and recommended products to use with this part, refer to www.maximintegrated.com/MAX21000.related . evaluation kit available MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope
maxim integrated 2 electrical characteristics (v dd = v ddio = 2.5v, int1, int2, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c). 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 . v dd ....................................................................... -0.3v to +6.0v v ddio ..................................... -0.3v to min (v dd + 0.3v, +6.0v) int1, int2, sda_sdi_o, sa0_sdo, scl_clk, cs, dsync ..................... -0.3v to (v ddio + 0.3v) i vdd continuous current ................................................. 100ma i vddio continuous current .............................................. 100ma junction temperature ...................................................... +150oc operating temperature range ............................ -40oc to +85oc storage temperature range ............................. -40oc to +150oc lead temperature (soldering, 10s) ................................. +260oc 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 ab solute 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. package thermal characteristics (note 1) lga junction-to-case thermal resistance ( jc ) ........... 31.8c/w junction-to-ambient thermal resistance ( ja ) ........... 160c/w absolute maximum ratings parameter symbol conditions min typ max units supply and consumption v dd supply voltage v dd 1.71 2.5 3.6 v v ddio (note 2) v ddio 1.71 2.5 v dd + 0.3v v idd current consumption normal mode i vddn 5.4 ma idd current consumption standby mode (note 3) i vdds 2.7 ma idd current consumption eco mode (note 4) i vddt 200hz odr 3.3 ma 100hz odr 3.0 ma idd current consumption power down mode i vddp 8.5 a temperature sensor temperature sensor output change vs. temperature t sdr 8 bit 1 digit/oc 16 bit 256 digit/oc temperature bw t bw 1 hz temperature sensor bias t bias at t a = +25oc, 8 bit 25 digit at t a = +25oc, 16 bit 6400 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 3 electrical characteristics (continued) (v dd = v ddio = 2.5v, int1, int2, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c). parameter symbol conditions min typ max units gyroscope gyro full-scale range g fsr user selectable 31.25 dps 62.5 125 250 500 1000 2000 gyro rate noise density g rnd for all the f s and over the whole v dd including 1.8v 0.009 dps/hz gyro rate noise density in eco mode g sprnd for all the fs and over the whole v dd including 1.8v at 200hz odr 0.025 dps/hz gyro bandwidth (lowpass) (note 5) g bwl 2 400 hz gyro bandwidth (highpass) (note 6) g bwh 0.1 100 hz phase delay g pdl at 10hz, 400hz bandwidth, 10khz odr 2.9 deg output data rate (note 7) g odr 5 10k hz sensitivity error g se 2 % sensitivity g so g fsr = 31.25 960 digit/ dps g fsr = 62.5 480 g fsr = 125 240 g fsr = 250 120 g fsr = 500 60 g fsr = 1000 30 g fsr = 2000 15 sensitivity drift over temperature g sd maximum delta from t a = +25oc 2 % zero rate level error g zrle 0.5 dps zero rate level drift over temperature g zrld maximum delta from t a = +25oc 2 dps startup time from power down g tupl 45 ms startup time from standby mode g tups g odr = 10khz, g bwl = 400hz 2 ms nonlinearity g nln 0.2 %f s angular random walk (arw) g arw 0.45 o/hr in-run bias stability g ibs at 1000s 4 o/hr cross axis g xx 1 % MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 4 electrical characteristics (continued) (v dd = v ddio = 2.5v, int1, int2, t a = -40c to +85c, unless otherwise noted. typical values are at t a = +25c). note 2: v ddio must be lower or equal than v dd analog. 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 - put data rate (odr) is either 25hz, 50hz, 100hz, or 200hz. note 5: user selectable: gyro bandwidth accuracy is 10%. note 6: enable/disable with user selectable bandwidth. gyro bandwidth accuracy is 10%. note 7: user selectable with 256 possible values from 10khz down to 5hz. odr accuracy is 10%. note 8: user can choose the best output current based on his pcb, interface speed, load, and consumption. note 9: based on characterization results, not production tested. note 10: based on characterization results, not production tested. test conditions are: i2c_cfg[3:0] = 1111. parameter symbol conditions min typ max units self-test output stor for gfsr = 250, 500, 1000, 2000 dps, axes x, z +f s /4 dps for gfsr = 250, 500, 1000, 2000 dps, axis y -f s /4 io dc specifications (note 9) input threshold low v il t a = +25oc +0.3 x v ddio v input threshold high v ih t a = +25oc 0.7 x v ddio v hysteresis of schmitt trigger input v hys t a = +25oc 0.05 x v ddio v output current (note 8) i oh /i ol i2c_cfg[3:2] = 00 3 ma i2c_cfg[3:2] = 01 6 ma i2c_cfg[3:2] = 11 12 ma spi slave timing values (note 10) clk frequency f c_clk 10 mhz cs setup time t su_cs 6 ns cs hold time t h_cs 12 ns sdi input setup time t su_si 6 ns sdi input hold time t h_si 12 ns clk fall to sdo valid output time t v_sdo 50 ns sdo output hold time t h_so 10 ns esd protection human body model hbm 2 kv MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 5 spi timing diagrams t su_cs t su_si hi-z hi-z 4-wire spi mode sdo sdi 12 89 10 t c_clk t v_sdo t h_so t h_cs t csw clk cs t h_si t su_cs t su_si hi-z hi-z sdo sdi 12 89 10 t c_clk t h_si t h_cs t csw clk cs 3-wire spi mode MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 6 typical operating characteristics (v dd = v ddio = 2.5v, t a = +25oc, unless otherwise noted.) x-axis digital output vs. angular rate MAX21000 toc01 angular rate (dps) digital output (lsb ) 1k 0 -1k -20k -10k 0 10k 20k 30k -30k -2k 2k t a = -40c t a = +25c t a = +85c y-axis digital output vs. angular rate MAX21000 toc02 angular rate (dps) digital output (lsb ) 1k 0 -1k -20k -10k 0 10k 20k 30k -30k -2k 2k t a = -40c t a = +25c t a = +85c z-axis digital output vs. angular rate MAX21000 toc03 angular rate (dps) digital output (lsb ) 1k 0 -1k -20k -10k 0 10k 20k 30k -30k -2k 2k t a = -40c t a = +85c t a = +25c zero-rate level vs. power suppl y MAX21000 toc04 power supply (v) zero-rate (dps) 3.6 3.1 2.6 2.1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1.0 -1.0 1.6 x y z magnitude respons e MAX21000 toc05 frequency (hz) magnitude (db) 100 10 -40 -30 -20 -10 0 10 -50 11 000 bw = 400hz bw = 100hz bw = 10hz phase respons e MAX21000 toc06 frequency (hz) phase (deg ) 400 300 200 100 -80 -70 -60 -50 -40 -30 -20 -10 0 -90 05 00 bw = 10hz bw = 100hz bw = 400hz MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 7 pin description pin confguration pin name function 1 v dd_io interface and interrupt pad supply voltage 2, 3, 16 n.c. not internally connected 4 scl_clk spi and i 2 c clock. when in i 2 c mode, the io has selectable antispike flter and delay to ensure correct hold time. 5 gnd power-supply ground. 6 sda_sdi_o spi in/out pin and i 2 c serial data. when in i 2 c mode, the io has selectable antispike flter and delay to ensure correct hold time. 7 sa0_sdo spi serial data out or i 2 c slave address lsb 8 cs spi chip select/serial interface selection 9 int2 second interrupt line 10 reserved must be connected to gnd 11 int1 first interrupt line 12 dsync data syncronization pin. used to wake up the MAX21000 from power down/standby and synchronize data with gps/camera. 13 reserved leave unconnected 14 v dd analog power supply. bypass to gnd with a 0.1f capacitor and one 1f. 15 v dd must be tied to v dd in the application. lga (3mm x 3mm) MAX21000 top view v ddio n.c. n.c. scl_clk gnd sda_sdi_ o sa0_sdo cs reserved dsync int1 1 2 3 4 5 67 8 16 15 14 13 12 11 10 9 n.c. v dd v dd reserved int2 + MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 8 functional diagram detailed description the MAX21000 is a low power, low voltage, small package three-axis angular rate sensor able to provide unprecedented accuracy and sensitivity over temperature and time. the ic is also the industrys first gyroscope available in a 3mm x 3mm package and capable of working with a sup - ply voltage as low as 1.71v. it includes a sensing element and an ic interface that provides the measured angular rate to the external world through a digital interface (i 2 c/spi). the ic has a full scale of 250/500/1k/2k dps for ui and 31.25/62.5/125/250 dps for ois. it measures rates with a user-selectable bandwidth. the ic is available in a 3mm x 3mm x 0.9 mm plastic land grid array (lga) package and operates over the -40oc to +85oc temperature range. see the definitions section for more information. defnitions power supply (v): this parameter defines the operating dc power-supply voltage range of the mems gyroscope. 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 mems gyroscope, the MAX21000 can not only operate at 1.71v but that supply can also be provided by a switching regular, to minimize the system power con - sumption. power-supply current (ma): this parameter defines the typical current consumption when the mems gyroscope is operating in normal mode. power-supply current in standby mode (ma): this parameter defines the current consumption when the mems gyroscope is in standby mode. to reduce power consumption and have a faster turn-on time, in standby mode only an appropriate subset of the sensor is turned off. power-supply current in eco mode (ma): this param - eter defines the current consumption when the mems gyroscope is in a special mode named eco mode. while in eco mode, the MAX21000 reduces significantly the power consumption, at the price of a slightly higher rate noise density. power-supply current in power-down mode (a): this parameter defines the current consumption when the mems gyroscope is powered down. in this mode, both the mechanical sensing structure and reading 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 interface is guaranteed also in power-down mode. a afe gyro sense fil tering MAX21000 mems registers and fifo timer scl_clk sda_sdi_o sa0_sdo cs sync spi/ i 2 c sla ve gyro drive control afe interrupts v dd gnd v dd_io ring oscilla to r dsync afe a a int1 int2 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 9 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 convert a digital gyroscopes measurement in lsbs to angular velocity. sensitivity change vs. temperature (%): this parameter defines the sensitivity change in percentage (%) over the operating temperature range specified in the data sheet. zero-rate level change vs. temperature (dps): this parameter defines the zero-rate level change in dps over the operating temperature range. non-linearity (% fs): this parameter defines the maxi - mum error between the gyroscopes outputs and the best- fit straight line in percentage with respect to the full-scale (fs) range. 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 - scopes bandwidth. 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. MAX21000 architecture the MAX21000 comprises the following key blocks and functions: three-axis mems rate gyroscope sensor with 16-bit adcs and signal conditioning primary i 2 c and spi serial communications interfaces sensor data registers fifo synchronization interrupt generators digital output temperature sensor self-test three-axis mems gyroscope with 16-bit adcs and signal conditioning the ic con sists of a single-drive vibratory mems gyro - scope that detects rotations around the x, y, 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 pro - portional to the angular rate. the analog-to-digital con - version uses 16-bit adc converters. the gyro full-scale range can be digitally programmed to 250, 500, 1000 or 2000 dps in ui mode and 31.25/62.5/125/250 dps in ois m ode. interrupt generators the MAX21000 off ers two completely independent inter - rupt generators to ease the sw management of the inter - rupt 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 startup sequence. interrupt functionality can be configured through the interrupt configuration registers. configurable items include the int pin level and duration, the clearing method, 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 two forms: latched and unlatched. interrupt sources can be enabled/disabled and cleared indi - vidually. the list of possible interrupt sources includes the following conditions: data_ready, fifo_ready, fifo_ threshold, fifo_overrun, restart, dsync. 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 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. 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 ( o c). by reading the lsb, the accuracy is greatly increased, up to 256 digit/oc. MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 10 power modes the ic features four power modes, allowing selecting the appropriate tradeoff between power consumption, accu - racy, and turn-on time. 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 mode transition based on the dsync pin. normal mode in normal mode, the ic is operational with minimum noise level. eco mode the eco mode reduces power consumption with the same sensor accuracy at the price of a higher rate noise density. this unique feature can be activated with four odrs: 25hz, 50hz, 100hz, and 200hz. standby mode 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. 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 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. digital interfaces the registers embedded inside the ic can be accessed through both the i 2 c and spi serial interfaces. 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 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 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 ic is b101100x, which is 7 bits long. the lsb of the 7-bit address is determined by the logic level on pin sa0. this allows two MAX21000s to be connected on the same i 2 c bus. when used in this con - figuration, the address of one of the two devices should table 1. power modes table 2. digital interface pin description table 3. i 2 c address name description normal device is operational with maximum performances. eco device operates to reduce the average current consumption. standby in standby mode, the current consumption is reduced by 50%, with a shorter turn-on time of 5ms. power-down this is the minimum power consumption mode, at the price of a longer turn-on time. name description cs spi enable and i 2 c/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 flter 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 anti-spike flter 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 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 11 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 ics 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_disable bit at address 0x15 if the ic 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 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 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 ic. 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 can either be used to operate in multi-addressing standard mode or to check the parity with the register address. 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 2C7: address ad[5:0]. this is the address field of the indexed register. bits 8C15: data di[7:0] (write mode). this is the data that is written to the device (msb first). bits 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 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_wire into itf_otp to 0 for full-duplex, and 1 for half-duplex operation. full duplex is the power-on default. full-duplex operation the ic is put into full-duplex mode at power-up, or when the spi master clears the spi_3_wire bit, the spi inter - face uses separate data pins, sdi and sdo to transfer data. because of the separate data pins, bits can be simultaneously clocked into and out of the ic. the ic makes use of this feature by clocking out 8 output data bits as the command byte is clocked in. reading from the spi slave interface (sdo) the spi master reads data from the ic slave interface using the following steps: 1) when cs is high, the ic is unselected and three-states the sdo output. 2) after driving scl_clk to its inactive state, the spi master selects the ic by driving cs low. 3) the spi master simultaneously clocks the command byte into the MAX21000 the spi read command is performed with 16 clock pulses. multiple byte read command is performed adding blocks of 8 clock pulses at the previous one. bit 0: read bit. the value is 1. bit 1: ms bit. when 1, do not increment address. when 0, increment address in multiple reading. bits 2C7: address ad[5:0]. this is the address field of the indexed register. bits 8C15: data do[7:0] (read mode). this is the data that is read from the device (msb first). bits 16C... : data do[...C8]. further data in multiple byte reading. 4) after 16 clock cycles, the master can drive cs high to deselect the ic, causing it to three-state its sdo out - put. the falling edge of the clock puts the msb of the next data byte in the sequence on the sdo output. 5) by keeping cs low, the master clocks register data bytes out of the ic 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 in its inactive state at the beginning of the next access (when it drives cs low). MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 12 writing to the spi slave interface (sdi) the spi master writes data to the ic slave interface through the following steps: 1) the spi master sets the clock to its inactive state. when cs is high, the master can drive the sdi input. 2) the spi master selects the MAX21000 by driving cs low. 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. 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. bits 2C7: address ad[5:0]. this is the address field of the indexed register. bits 8C15: data di[7:0] (write mode). this is the data that is written inside the device (msb first). bits 16C... : data di[...C8]. further data in multiple byte writing. 4) by keeping cs low, the master clocks data bytes into the ic 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 inactive at the beginning of the next access (when it drives cs low). in full-duplex mode, the ic outputs data bits on sdo during the first 8 bits (the command byte), and subsequently outputs zeros on sdo as the spi master clocks bytes into sdi. half-duplex operation when the spi master sets spi_3_wire = 1, the ic is put into half-duplex mode. in half-duplex mode, the ic three- states its sdo pin and makes the sdi pin bidirectional, saving a pin in the spi interface. the sdo pin can be left unconnected in half-duplex operation. the spi master must operate the sdi pin as bidirectional. it accesses a ic register as follows: the spi master sets the clock to its inactive state. while cs is high, the master can drive the sdi pin to any value. 1) the spi master selects the ic 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 ic. 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 readings. 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). multiple read command is also available in 3-wire mode. sensor data registers the sensor data registers contain the latest gyroscope and temperature measurement data. they are read-only registers and are accessed through the serial interface. data from these registers can be read anytime. however, the interrupt function can be used to determine when new data is available. fifo the ic embeds a 256-slot of a 16-bit data fifo for each of the three output channels: yaw, pitch, and roll. this allows a consistent power saving for the system since the host processor does not need to continuously poll data from the sensor, but it can wake up only when needed and burst the significant data out from the fifo. when configured in snapshot mode, it offers the ideal mecha - nism to capture the data following a rate interrupt event. this buffer can work according to four main modes: off, normal, interrupt, and snapshot. both normal and interrupt modes can be optionally configured to operate in overrun mode, depending on whether, in case of buffer under-run, newer or older data are 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. synchronous reading in this mode, the processor reads the data set (e.g., 6 bytes for a 3 axes configuration) generated by the ic every time that data_ready is set. the processor must read once and only once the data set in order to avoid data inconsistencies. MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 13 benefits of using this approach include the perfect recon - struction of the signal coming the gyroscope and mini - mum data traffic. asynchronous reading in this mode, the processor reads the data generated by the ic 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 frequency to be used must be much higher than the selected odr (e.g., 10x). 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 sav - ing data. if communication speed is high, data loss can be prevented. to prevent a fifo-full condition, the required con - dition 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. figure 1. fifo normal mode, overrun = false 255 threshold threshol dt hreshold 255 level increments with ne w samples stored and decrement s with new readings . fifo_ovthold interrupt generated . fifo_full interrupt generated . no new data stored unti l the entire fifo is read . (wp-rp) = level 0 (wp-rp) = level (wp-rp ) = level 0 255 0 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 14 figure 2. fifo normal mode, overrun = true 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. to prevent a data_lost 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. 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. interrupt mode overrun = false fifo is initially disabled. data are stored only in the data registers. when a rate interrupt (either or or and) is gener - ated, 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 sav - ing data. if communication speed is high, data loss can be prevented. to prevent a fifo-full condition, the required con - dition 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. threshold threshold threshol d fifo used as circular buffe r fifo used as circular buffe r fifo used as circular buffer wp rp wp rp wp rp wp-rp increments with ne w samples stored and decrement s with new readings . fifo_ovthold interrup t generated. fifo_full interrupt generated . new incoming data woul d overwrite the older ones . MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 15 figure 3. fifo interrupt mode, overrun = false threshold threshold threshold level 0 max (wp-rp ) = level 0 (wp-rp) = level 00 (wp-rp ) = level max max fifo initially off. when th e programmed rate interrupt occurs , turn fifo on. level increments with ne w samples stored and decrements with new readings . fifo_ovthold interrupt generated . fifo_full interrupt generated . no new data stored until the entire fifo is read. max MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 16 figure 4. fifo interrupt mode, overrun = true overrun = true fifo is initially disabled. data are stored only in the data registers. when a rate interrupt (either or or 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 data_lost 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. 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. threshold threshol d fifo initially off. when th e programmed rat e interrupt occurs, turn fifo on. level 0 max wp = rp rp rp wp wp threshol d wp-rp increments with new samples stored and decrements with new readings . fifo_ovthold interrupt generated . fifo_full interrupt generated . new incoming data woul d overwrite the older ones . MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 17 figure 5. fifo snapshot mode snapshot mode fifo is initially in normal mode with overrun enabled. when a rate interrupt (either or or and) is gen - erated, the fifo switches automatically to not- overrun mode. it stores the data at the selected odr until the fifo becomes full. 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 sav - ing data. if communication speed is high, data loss can be prevented. to prevent a fifo_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 lost. threshold threshold threshold wp rp wp rp max wp rp fifo used as circular buffe r fifo used as circular buffe r fifo used as circular buffe r max threshold max threshol d 0 threshol d snapshot captured rate interrup t (wp-rp) = level 0 (wp-rp) = level (wp-rp) = level 0 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 18 bias instability and angular random walk bias instability is a critical performance parameter for gyroscopes. the ic provides a typical bias instability of 4o/ hour on each axis and an arw of 0.45o/hour, measured using the allan variance method. data synchronization the dsync pin enables a number of synchronization options. wake-up feature the dsync pin can be used to wake-up the ic from the power-down or suspend mode. repeatedly changing dsync from active to not active and vice-versa can be used to control the power mode of the MAX21000 using an external controlling device, be it a microprocessor, another sensor or a different kind of device. dsync can be configured to active either high or low and on either edge or level. this feature is controlled by a specific bit in the dsync_cfg register. data capture feature another way to use the dsync pin is as data capture trig - ger. the ic can be configured to stop generating data until a given edge occur on dsync. once the programmed active edge occurs, the ic collects as many data as speci - fied in the dsync_cnt register. dsync mapping on data dsync can also be optionally mapped onto the lsb of 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_cfg register. dsync interrupt generation the dsync pin can also be used as an interrupt source to determine a different kind of data synchronization based on the software management performed by an external processor. the dsync-based wake-up, data capture, data map - ping, and interrupt generation features can be combined together. unique serial number each ic is uniquely identified by 48 bits that can be used to track the history of the sample, including manufactur - ing, assembly, and testing information. self-test for digital gyroscopes, there are two dedicated bits in a control register to enable the self-test. this feature can be used to verify if the gyroscope is working properly with - out physically rotating the gyroscope. that may be used either before or after it is assembled on a pcb. if the gyro - scopes outputs are within the specified self-test values in the data sheet, then the gyroscope is working properly. therefore, the self-test feature is an important consider - ation in a users end-product mass production line. the embedded self-test in maxims 3-axis digital gyro - scope is an additional key feature that allows the gyro - scope to be tested during final product assembly without requiring physical device movement. MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 19 table 4. common bank 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 addresses in the 0x00 to 0x3f range even though the number of physical registers is in excess of 64. 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. name register address type default value comment who_am_i 0x20 r 1011 0001 device id bank_select 0x21 r/w 0000 0000 register bank selection system_status 0x22 r 0000 0000 system status register gyro_x_h 0x23 r data bits [15:8] of x measurement gyro_x_l 0x24 r data bits [07:0] of x measurement gyro_y_h 0x25 r data bits [15:8] of y measurement gyro_y_l 0x26 r data bits [07:0] of y measurement gyro_z_h 0x27 r data bits [15:8] of z measurement gyro_z_l 0x28 r data bits [07:8] of z measurement temp_h 0x29 r data bits [15:8] of t measurement temp_l 0x2a r data bits [07:8] of t measurement rfu 0x2b r 0000 0000 rfu 0x2c r 0000 0000 rfu 0x2d r 0000 0000 rfu 0x2e r 0000 0000 rfu 0x2f r 0000 0000 rfu 0x30 r 0000 0000 rfu 0x31 r 0000 0000 rfu 0x32 r 0000 0000 rfu 0x33 r 0000 0000 rfu 0x34 r 0000 0000 rfu 0x35 r 0000 0000 rfu 0x36 r 0000 0000 rfu 0x37 r 0000 0000 rfu 0x38 r 0000 0000 rfu 0x39 r 0000 0000 rfu 0x3a r 0000 0000 hp_rst 0x3b rw 0000 0000 highpass flter reset fifo_count 0x3c r 0000 0000 available fifo samples for data set fifo_status 0x3d r 0000 0000 fifo status fags fifo_data 0x3e r data fifo data to be read in burst mode par_rst 0x3f w and reset 0000 0000 parity reset (reset on write) MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 20 user bank 0 user bank 0 is the register used to configure most of the features of the ic, with the exception of the interrupts, which are part of the user bank 1. table 5. user bank 0 name register address type default value comment power_cfg 0x00 rw 0000 0111 power mode confguration sense_cfg1 0x01 rw 0010 1000 sense confguration: lp and ois sense_cfg2 0x02 rw 0010 0011 sense confguration: odr sense_cfg3 0x03 rw 0000 0000 sense confguration: hp rfu 0x04 r 0000 0000 rfu 0x05 r 0000 0000 rfu 0x06 r 0000 0000 rfu 0x07 r 0000 0000 rfu 0x08 r 0000 0000 rfu 0x09 r 0000 0000 rfu 0x0a r 0000 0000 rfu 0x0b r 0000 0000 rfu 0x0c r 0000 0000 rfu 0x0d r 0000 0000 rfu 0x0e r 0000 0000 rfu 0x0f r 0000 0000 rfu 0x10 r 0000 0000 rfu 0x11 r 0000 0000 rfu 0x12 r 0000 0000 dr_cfg 0x13 rw 0000 0001 data ready confguration io_cfg 0x14 rw 0000 0000 input/output confguration i2c_cfg 0x15 rw 0000 0100 i 2 c confguration itf_otp 0x16 rw 0000 0000 interface and otp confguration fifo_th 0x17 rw 0000 0000 fifo threshold confguration fifo_cfg 0x18 rw 0000 0000 fifo mode confguration rfu 0x19 r 0000 0000 dsync_cfg 0x1a r 0000 0000 data_sync confguration dsync_cnt 0x1b r 0000 0000 data_sync counter rfu 0x1c r 0000 0000 rfu 0x1d r 0000 0000 rfu 0x1e r 0000 0000 rfu 0x1f r 0000 0000 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 21 user bank 1 user bank 1 is primarily devoted to the configuration of the interrupts. it also contains the unique serial number. table 6. user bank 1 name register address type default value comment int_ref_x 0x00 rw 0000 0000 interrupt reference for x axis int_ref_y 0x01 rw 0000 0000 interrupt reference for y axis int_ref_z 0x02 rw 0000 0000 interrupt reference for z axis int_deb_x 0x03 rw 0000 0000 interrupt debounce, x int_deb_y 0x04 rw 0000 0000 interrupt debounce, y int_deb_z 0x05 rw 0000 0000 interrupt debounce, z int_msk_x 0x06 rw 0000 0000 interrupt mask, x axis zones int_msk_y 0x07 rw 0000 0000 interrupt mask, y axis zones int_msk_z 0x08 rw 0000 0000 interrupt mask, z axis zones int_mask_ao 0x09 rw 0000 0000 interrupt masks, and/or int_cfg1 0x0a rw 0000 0000 interrupt confguration 1 int_cfg2 0x0b rw 0010 0100 interrupt confguration 2 int_tmo 0x0c rw 0000 0000 interrupt timeout int_sts_ul 0x0d r 0000 0000 interrupt sources, unlatched int1_sts 0x0e r 0000 0000 interrupt 1 status, latched int2_sts 0x0f r 0000 0000 interrupt 2 status, latched int1_msk 0x10 rw 1000 0000 interrupt 1 mask int2_msk 0x11 rw 0000 0010 interrupt 2 mask rfu 0x12 r 0000 0000 rfu 0x13 r 0000 0000 rfu 0x14 r 0000 0000 rfu 0x15 r 0000 0000 rfu 0x16 r 0000 0000 rfu 0x17 r 0000 0000 rfu 0x18 r 0000 0000 rfu 0x19 r 0000 0000 serial_0 0x1a r variable unique serial number, byte 0 serial_1 0x1b r variable unique serial number, byte 1 serial_2 0x1c r variable unique serial number, byte 2 serial_3 0x1d r variable unique serial number, byte 3 serial_4 0x1e r variable unique serial number, byte 4 serial_5 0x1f r variable unique serial number, byte 5 MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 22 orientation of axes the diagram below shows the orientation of the axes of sensitivity and the polarity of rotation. note the pin 1 iden - tifier ( u ) in figure 6 . soldering information visit www.maximintegrated.com/MAX21000.related for soldering recommendations. application notes bypass v dd and v ddio to the ground plane with 0.1f ceramic chip capacitors on each pin as close as possible to the ic to minimize parasitic inductance. depending on the specific application, add at least one bulk 1f decoupling capacitor to v dd and v ddio per pcb. for best performance, bring a v dd power line in on the analog interface side of the ic and an v ddio power line from the digital interface side of the device. table 7. bill of materials for external components figure 6. orientation of axes component label specification quantity v dd /v ddio bypass capacitor c1 ceramic, x7r, 0.1f 10%, 4v 1 v dd /v ddio bypass capacitor c2 ceramic, x7r, 1f 10%, 4v 1 z y x MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 23 ordering information chip information process: bicmos +denotes lead(pb)-free/rohs-compliant package. t = tape and reel. typical application circuit part temp range pin-package MAX21000+ -40c to +85c 16 lga MAX21000+t -40c to +85c 16 lga a afe gyro sense fil tering MAX21000 mems registers and fifo timer scl_clk sda_sdi_o sa0_sdo cs sync spi/ i 2 c sla ve gyro drive control afe interrupts ring oscilla to r dsync afe a a int1 int2 100nf v dd gnd v dd_io pmic ap 1f MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 24 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. MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
maxim integrated 25 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. MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope www.maximintegrated.com
? 2013 maxim integrated products, inc. 26 revision history revision number revision date description pages changed 0 12/12 initial release 1 2/13 updated benefts and features section, updated gyro full-scale range typ values, updated phase delay conditions, updated sensitivity conditions, updated sensitivity drift over temperature conditions, updated spi limits, added notes 9 and 10, updated spi timing diagrams , removed i 2 c timing diagrams , updated toc 4, updated pin description , updated defnitions section, updated spi interface section, removed revision id , clocking , and layout, grounding, and bypassing sections, and added soldering information section 1, 3C10, 12, 19, 23 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 specifcations 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. MAX21000 ultra-accurate, low power, 3-axis digital output gyroscope for pricing, delivery, and ordering information, please contact maxim direct at 1-888-629-4642, or visit maxim integrateds website at www.maximintegrated.com.

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