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sd705/ sd706/ sd707/ SD708 ? inertial module single axis in plane or out of plane gyroscope product datasheet date: 01.10.2010 revision: 1.9 typ micro-machined integrated iner tial module with single axis in- plane or out-of-plane gyroscope device name sd705 / sd706/ sd707/ SD708 package qfn 40, 6x6mm ? 2010. proprietary data. all rights reserved by sensordynam ics ag entwicklungs- und produk tionsgesellschaft (below sd) including the right to file industrial property rights. sd retain s the sole power of distribution, such as reproduction, copyin g, distribution, adaptation, merger and translation. reproduction, c opying, distribution, adaptation, merger and translation, in part or whole, without the prior written consent of sd, is prohi bited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. any enquiries relating to this document or its contents should be addressed in the first instance to: sensordynamics ag schlo? eybesfeld 1e 8403 graz-lebring. austria. tel i +43-(0)3182-40160 fax i +43-(0) 3182-40160-70 mail i info@sensordynamics.cc free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 3 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc applications the high performance level, mechanical robustness and the wi de operating temperature range make the sd70x inertial module best suitable for several applications like: navigational systems platform stabilization high end toys (e.g. helicopters) image stabilization motion control features tiny qfn40 package of only 6x6x2 mm3 temperature operating range -40c to +85c fully calibrated over the whole operating temperature range continuously working self diagnosis sensitive gyroscope axis either in-plane or out-of-plane simultaneously two measurement ranges of 100/s and 300/s provide over range up to 128 /s and 512/s, respectively available as 3.3v or 5v version general description the sd70x module integrates a high performance sensor el ement and a mixed signal asic within a 40 pins qfn plastic package. the sd705 and sd707 are sensitive to in plane angular ve locities (parallel to the pcb, x-axis), while the sd706 and SD708 are sensitive to out of plane angular velocities (per pendicular to the pcb, z-axis). the sd705 and sd706 are for 3.3v operation and the sd707 and SD708 for 5v operation. part name gyroscope axis supply voltage sd705 x 3.3v sd706 z 3.3v sd707 x 5v SD708 z 5v the sensor element is manufactured in a surface micromac hining process and encapsulated in a first level packaging technique. the sensor module provides a digital rate output via an integrated serial peripheral interface (spi). the sd70x is designed to provide a high signal-to-noise ra tio with excellent performance over temperature. two measurement ranges are available simultaneously: 128 / sec with 10hz bandwidth and 512 /sec with 75hz bandwidth. the micro-machined gyroscope element exploi ts the principle of the coriolis effect and a capacitive-based sensing system. rotation of the sensor around the sensitive axis causes a seco ndary movement of an oscillating silicon structure resulting in a capacitance change. the asic detects and transforms these changes in capacitance into a digital output signal, which is proportional to the angular rate. the inertial module comes fully calibrated with the calibration data stored in non-volatile memory. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 5 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc contents 1. general........................................................................................................................ .....................7 1.1. absolute maxi mum ratings ....................................................................................................... ........... 7 1.2. normal operat ing range ......................................................................................................... ............. 7 1.3. package ........................................................................................................................ ........................ 8 1.4. marking ........................................................................................................................ ......................... 9 1.5. reflow solder profile .......................................................................................................... ................ 10 1.6. self diagnos is co ncept......................................................................................................... .............. 11 2. sd705/sd706 interface defi nition ................................................................................................12 2.1. pin descri ption................................................................................................................ .................... 12 2.2. application circuit ............................................................................................................ ................... 14 3. sd707/8 interface definition .........................................................................................................16 3.1. pin descri ption................................................................................................................ .................... 16 3.2. application circuit ............................................................................................................ ................... 18 4. clock source ............................................................................................................................... ..20 4.1. general ........................................................................................................................ ....................... 20 4.2. internal oscillator circuit schematic .......................................................................................... ........... 20 5. electrical and physical character istics ......................................................................................21 5.1. operation and perfo rmance parameters ........................................................................................... .. 21 6. spi communi cation .............................................................................................................. ........26 6.1. general info rmation ............................................................................................................ ................ 26 6.2. readrate opco de (0x01) ......................................................................................................... .......... 28 6.3. readstatus op code (0x02)....................................................................................................... .......... 29 6.4. asicoperation op code (0x0b) .................................................................................................... ........ 31 6.5. readdiagbuf op code (0x0d) ...................................................................................................... ....... 34 6.6. spi comma nds ty pes ............................................................................................................. ............. 35 6.8. crc ............................................................................................................................ ........................ 37 6.9. spi phase a nd polarity ......................................................................................................... .............. 38 6.10. spi timing spec ification....................................................................................................... ............... 39 free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 7 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 1. general 1.1. absolute maximum ratings stress levels exceeding the values listed here may cause permanent damage to the device. environmental specification parameter min max unit condition sd705, sd706 supply voltage -0.5 4.6 v sd707, SD708 supply voltage -0.5 6.0 storage temperature -40 125 c package drop survival (aec-q100) 1.2 m unpowered 2000 g unpowered sd705, sd707 mechanical shock survival** half sine according jesd22-b104c 1500 g powered tbd g unpowered sd706, SD708 mechanical shock survival** half sine according jesd22-b104c tbd g powered esd* 2 kv hbm at any pin * the sd70x inertial module is rated to 2kv using the hu man body model (hbm). although this product features patented or proprietary protection circuitry against electr ostatic discharge (esd) damage may occur if devices are subjected to high-energy esd pulses. therefore, proper precaution has to be taken to avoid performance degradation or loss of functionality. ** drops onto hard surfaces can cause shocks of greater than 2000g and exceed the absolute maximum rating of the device. care should be exercised in handling to avoid damage. 1.2. normal operating range the operation range specifies the electrical and environmental c onditions of operation where all specified characteristics have to be fulfilled. environmental specification parameter min max unit condition ambient temperature -40 85 c ambient temperature change rate -5 5 c / min the minimum operational lifetime is 17 000 h in powered state, the total lifetime is minimum 17 years. warning! free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 1.3. package free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 9 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 1.4. marking 0.9 0.4 0.4 0.5 drawing 1: dimensions and positioning of the marking in mm field line digits field description marking pin 1 indicator product no. (sdabc) 1 5 sensordynamics product no. sd705 sd706 sd707 SD708 date code 2 4 date code yyww [yyww] manufacturer 2 1 manufacturer code free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 1.5. reflow solder profile packaging concept, technology and materials are selected to allow for up to three solder cycles according to lead free solder profile with peak temperature of +245 c, as described in the figure and tables below. profile features value / condition profile type pb-free assembly average rump-up rate (ts max to tp) max 3 c/s preheat temperature min (ts min ) 150 c temperature max (ts max ) 200 c time (ts) 60-180 s time maintained above: temperature min (t l ) 217 c time (t l ) 60-150 s peak temperature peak/classification temperature (tp) 245c time within 5c from actual peak temperature (tp) 20-40 s time above t solidus (min. 217 c) min. 90 s cooling ramp-down rate max 6 c/s general time 25 c to peak temperature max. 480 s free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 11 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 1.6. self diagnosis concept the inertial module accomplishes a continuously working self diagnosis of the gyroscope. there is no need to switch to a certain diagnosis mode. if a failure of the gyroscope is detect ed a dedicated status flag (bit_n, see section 6.1.2) in the measurement data telegram is set to ?1?. if the failure is just temporary, e.g. due to a mechanical shock, the bit_n is reset to ?0? automatically. if the bit_n remains ?1? even after resetting the sensor a permanent damage must be considered. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 2. sd705/sd706 interface definition 2.1. pin description the pin out includes digital/analog supply and ground, digi tal inputs and outputs for data and test signals. the following schematic depicts the pin assignment of the qfn package. nc nc oscin nc nc nc oscout dvss dvss nc avdd vref nc nc nc nc nc nc dtest nc fig. 2: pin out of sd705/6 inertial module in qfn package the pins are assigned according to the following table: pin type name notes 1 s avdd 3.3v analog power supply 2, 3 g avss analog ground 4 i csn spi interface (chip select, active low) 5 g iovss io ground 6 i mosi spi interface (master output slave input) 7 o miso spi interface (master input slave output) 8 i sclk spi interface (spi clock) 9 o uarttx reserved 10 i uartrx reserved 11, 12 nc nc not connected 13 i, a oscin ext. quartz connection or ext. clock input 14-16 nc nc not connected 17 a oscout ext. quartz connection 18, 19 g dvss digital ground 20, 21 nc nc not connected 22 i/o cache reserved 23 o clockout clock output (for driving other components) 24 o hostfail alarm for handshaking with host 25 o bit built in test (?high? means all ok) 26 s hvotp embedded otp power supply 27 a vregd 1.8v regulated voltage, requires 100nf external cap free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 13 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 28 s dvdd 3.3v digital power supply 29 nc nc not connected 30 i resetn reset_n (active low) 31 nc nc not connected 32 i dtest reserved 33-38 nc nc not connected 39 a vref analog voltage reference, requires 100nf external cap 40 s avdd 3.3v analog power supply legend: symbol description i digital input o digital output i/o digital input/output a analog s supply g ground na not applicable nc* not connected * nc pins are not connected internally. they can be modelled as an open circuit. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 2.2. application circuit a few external components are needed as shown in the next pi cture. the blue capacitors can be omitted if the supply voltage is properly filtered and the supply source has low impedance. sd705 (sd706) avdd avss avss csn iovss mosi miso sclk uarttx uartrx resetn nc dvdd vregd hvotp vbit hostfail clockout cache nc nc nc oscin nc nc nc oscout dvss dvss nc avdd vref nc nc nc nc nc nc dtest nc c2 3.3v c7 resetn c8 c6 3.3v c1 spi uart crystal c3 c4 c5 fig. 3: application circuit for integrated gyro module sd705/6. external components: # type name value unit notes 1 cap c1 100 nf mandatory. 2 cap c2 100 nf mandatory. 3 cap c3 10 pf board parasitic capacit ance on oscin should be kept below 1pf 4 cap c4 10 pf board parasitic capacit ance on oscout should be kept below 1pf 5 crystal crystal 12.0 mhz mandatory. see below for further requirements of quartz crystal. 6 cap c5 100 nf optional. required for not stabilized power supplies. 7 cap c6 470 pf optional. required for not stabilized power supplies. 8 cap c7 470 pf optional. required for not stabilized power supplies. 9 cap c8 100 nf optional. required for not stabilized power supplies. quartz crystal requirements: parameter mnemonic min typ max unit notes esr equivalent series resistance 150 ? cload load capacitance 10 15 pf driving level drvlevel 10 w fres resonant frequency 12.0 mhz freqtol frequency tolerance -0.3 0.3 % maximum over lifetime and temperature free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 15 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc digital i/o requirements: param description min max unit notes vil digital input low voltage level -0.3 0.8 v vih digital input high voltage level 2.0 5.5 v 5v tolerant vol digital output low voltage level 0.4 v 4ma current for clockout, 2ma for the other outputs voh digital output high voltage level 2.4 v 4ma current for clockout, 2ma for the other outputs pin 23 clockout (digital output ) this pin is by default disabled (high impedance). it can be ena bled at end of production line (otp) to provide the system clock to an external device. pin 24 host failure (digital output ) the inertial module contains a digital output (hostfail) fo r signalling a failure of the host c detected by intelligent watchdog procedure between inertial module and host c. pleas e contact sensordynamics for more details on the intelligent watchdog functionality. pin 25 bit (digital output ) the inertial module contains a digital output (bit) for si gnalling an internal failure detected by embedded failsafe checks system. this signal is active low: when bit voltage is low (vol) an error is present in the module. pin 27 vregd (analog output ) the inertial module generates an internally regulated voltage (1.8v) that requires external filtering by a 100nf capacitance. pin 30 resetn resetn is active low. when resetn is low (vil) the device is under reset. when resetn is high (vih) the device is in functional mode, if powered. case 1: customer application needs to reset the device on demand. in this case resetn has to be dr iven by external device/controller. case 2: customer application doesn?t need to reset the device on demand. resetn can be either connected directly to power supply (3 .3v) or pulled-up to 3.3v through dedicated resistor. sd705/6 will be automatically reset by inter nal por circuitry at every power-up sequence. pin 39 vref (analog output ) the inertial module generates an internal voltage reference (1.5v) that requires external filtering by a 100nf capacitance. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 3. sd707/8 interface definition 3.1. pin description the pin out includes digital/analog supply and ground, digi tal inputs and outputs for data and test signals. the following schematic depicts the pin assignment of the qfn package. nc nc oscin nc nc nc oscout dvss dvss nc avdd vrega nc nc nc nc nc dtest nc vref fig. 4: pin out of sd707/8 inertial module in qfn package the pins are assigned according to the following list: pin type name notes 1 s avdd 3.3v analog power supply 2, 3 g avss analog ground 4 i csn spi interface (chip select, active low) 5 g iovss io ground 6 i mosi spi interface (master output slave input) 7 o miso spi interface (master input slave output) 8 i sclk spi interface (spi clock) 9 o uarttx reserved 10 i uartrx reserved 11, 12 nc nc not connected 13 i, a oscin ext. quartz connection or ext. clock input 14-16 nc nc not connected 17 a oscout ext. quartz connection 18, 19 g dvss digital ground 20, 21 nc nc not connected 22 i/o cache reserved 23 o clockout clock output (for driving other components) 24 o hostfail alarm for handshaking with host 25 o bit built in test (?high? means all ok) 26 s hvotp embedded otp power supply 27 a vregd 1.8v regulated voltage, requires 100nf external cap 28 s dvdd 3.3v digital power supply free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 17 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 29 nc nc not connected 30 i resetn reset_n (active low) 31 nc nc not connected 32 i dtest reserved 33-37 nc nc not connected 38 a vref analog regulator outpu t, requires 100nf external cap 39 a vrega 5v regulated voltage, requires 100nf external cap 40 s avdd 3.3v analog power supply legend: symbol description i digital input o digital output i/o digital input/output a analog s supply g ground na not applicable nc* not connected * nc pins are not connected internally. they can be modeled as an open circuit. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 3.2. application circuit a few external components are needed as shown in the next pi cture. the blue capacitors can be omitted if the supply voltage is properly filtered and the supply source has low impedance. sd707 (SD708) avdd avss avss csn iovss mosi miso sclk uarttx uartrx resetn nc dvdd vregd hvotp vbit hostfail clockout cache nc nc nc oscin nc nc nc oscout dvss dvss nc avdd vrega vref nc nc nc nc nc dtest nc c2 3.3v c7 resetn c8 c6 3.3v c1 spi uart crystal c3 c4 c5 c9 fig. 5: application circuit for integrated gyro module sd707/8. external components: # type name value unit notes 1 cap c1 100 nf mandatory. 2 cap c2 100 nf mandatory. 3 cap c3 10 pf board parasitic capacit ance on oscin should be kept below 1pf 4 cap c4 10 pf board parasitic capacit ance on oscout should be kept below 1pf 5 crystal crystal 12.0 mhz mandatory. see below for further requirements of quartz crystal 6 cap c5 100 nf optional. required for not stabilized power supplies. 7 cap c6 470 pf optional. required for not stabilized power supplies. 8 cap c7 470 pf optional. required for not stabilized power supplies. 9 cap c8 100 nf optional. required for not stabilized power supplies. 10 cap c9 100 nf mandatory. quartz crystal requirements: parameter mnemonic min typ max unit notes esr equivalent series resistance 150 ? cload load capacitance 10 15 pf driving level drvlevel 10 w fres resonant frequency 12.0 mhz freqtol frequency tolerance -0.3 0.3 % maximum over liferime and temperature free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 19 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc digital i/o requirements : parameter description min max unit notes vil digital input low voltage level -0.3 1 v vih digital input high voltage level 4 5.5 v vol digital output low voltage level - 0.4 v 4ma current for clockout, 2ma for the other outputs voh digital output high voltage level 4.4 - v 4ma current for clockout, 2ma for the other outputs pin 23 clockout (digital output ) this pin is by default disabled (high impedance). it can be ena bled at end of production line (otp) to provide the system clock to an external device. pin 24 host failure (digital output ) the inertial module contains a digital output (hostfail) fo r signalling a failure of the host c detected by intelligent watchdog procedure between inertial module and host c. pleas e contact sensordynamics for more details on the intelligent watchdog functionality. pin 25 bit (digital output ) the inertial module contains a digital output (bit) for si gnalling an internal failure detected by embedded failsafe checks system. this signal is active low: when bit voltage is low (vol) an error is present in the module. pin 27 vregd (analog output ) the inertial module generates an internally regulated voltage (1.8v) that requires external filtering by a 100nf capacitance. pin 30 resetn resetn is active low. when resetn is low (vil) the device is under reset. when resetn is high (vih) the device is in functional mode, if powered. case 1: customer application needs to reset the device on demand. in this case resetn has to be dr iven by external device/controller. case 2: customer application doesn?t need to reset the device on demand. resetn can be either connected directly to power supply (3 .3v) or pulled-up to 3.3v through dedicated resistor. sd707/8 will be automatically reset by inter nal por circuitry at every power-up sequence. pin 38 vref (analog output ) the inertial module generates an internal voltage reference (1.5v) that requires external filtering by a 100nf capacitance. pin 39 vrega (analog output ) the inertial module generates an internally regulated voltage (3.3v) that requires external filtering by a 100nf capacitance. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 4. clock source 4.1. general sd recommends using a 12 mhz quartz for sd705/6/7/8 as indica ted in the application circuits. alternatively an external 12 mhz ceramic resonator can be used instead of the quartz: ceramic resonator requirements parameter mnemonic min typ max unit notes esr equivalent series resistance 150 ? also specified as resonant impedance cload load capacitance 10 15 pf additional capacitor not required if the load capacitor embedded in the ceramic resonator component 4.2. internal oscillator circuit schematic the following figure shows a schematic diagram of the inte rnal oscillator circuit implemented in sd705 and sd706 products, with the indication of the nominal values of the resistances. a maximum tolerance of 20% has to be considered for the actual value of the internal resistances. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 21 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 5. electrical and physical characteristics 5.1. operation and performance parameters operation specification parameter min typ max unit condition supply voltage sd705, sd706 3.1 3.5 v supply voltage sd707, SD708 4.75 5.25 v supply current sd705, sd706 16 ma supply current sd707, SD708 18 ma start up time 400 ms incl. start up checks spi communication speed 100 10000 khz 64 bits telegram (see appendix) total mass 0.2 grams gyro performance specification * parameter mr1 mr2 unit condition measurement range 100 300 /s resolution 0.0039 0.0156 (/s)/lsb true 16 bit rms noise 0.07 0.2 /s typical bandwidth (-3db) 10 75 hz 25% zero rate bias 0 0.5 /s typical temperature drift zero rate bias 2 /s typical sensitivity error 2.5 % typical over temp linearity error 1 % versus best fit micro linearity 10 % cross axis sensitivity 2.0 % against angular rates about other axes in run drift of rate bias 1 /s during 5 min after start-up at rt digital value range 128 512 /s 16 bit message total zero rate error 3.0 /s zero rate temperature drift velocity 0.2 (/s) / min 5 k/min maximum temperature shift phase response @ 5 hz -18 signal update time 1 ms spi message free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. parameter mr1 mr2 unit condition acceleration cross sensitivity 0.1 /s/g during/after 10 ms half-sine: @ 10g, 25g, 50g,100g output value on over-range 128 512 /s recovery time after over-range 50 ms normal operation after 300 /s for mr1 and 900 /s for mr2 recovery time after shock 5 ms for shocks up to 50g, 10 ms temperature signal tolerance 10 k spi message * the figures in the table are for nominal supply voltage (3.3v for sd705/706 and 5v for sd707/708) free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 23 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc definitions and explanations: supply current the specified value represents the maximum current consumpt ion under all operating conditions. its value is given by the sum of the currents going through the pins avdd and dvdd. startup time the startup time is the elapsed time between power up (reset) and the transition to locked status. measurement range the measurement range is the range of rotation conditions wher e the module works according to the specified performance. resolution the physical resolution is the minimum representable value. rms noise standard deviation of the rate output, computed on at least 500 readi ngs, collected on a time interval of 5s, with zero input rate applied, and according to the formula: () ? = n al outputsign al outputsign n e outputnois 1 2 1 where 500 n and al outputsign denotes the average over all collected samples of the rate output signal. noise density the noise density is the spectral density at a given frequency, measured with a filter of 1 hz noise bandwidth. given the rms noise as defined above, the noise density is given by: band filter e outputnois dnoise _ / = where band filter _ is the bandwidth in hz of the relevant filter. bandwidth the bandwidth is the frequency at which the output rate is att enuated by -3db compared to the dc value. the bandwidth is programmable at rom level. zero rate bias maximum deviation from zero rate output signal at zero physical input rate, acceptable after calibration at rt (= 25 c 5 c) and after the manufacturing process (populating, solder ing). the bias is computed as the average of at least 500 samples, collected after the signal is valid for 5 sec. temperature drifts zero rate bias maximum deviation of rate output at zero physical input rate over the full temperature range. the bias is computed as the average of at least 500 samples, collected after the signal is valid for 5 sec. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. sensitivity error the sensitivity error is the maximum deviation between ideal s ensitivity and the linear best fit measured in 5/s steps from ? min to ? max (-100 /s to + 100/s) for mr1, respectively measured in 20/s steps from ? min to ? max (-300 /s to + 300 /s) for mr2. for both ranges the sensitivity erro r is given by the following formula: ? ? ? ? ? ? ? ? ? = ? 1 100 ideal computed slope slope senserror where 1 = ideal slope . linearity error the linearity error is the maximum deviation of the rate measured between (-100 /s to + 100/s) in 5/s steps (resp. between -300 /s to + 300 /s in 20/s steps for mr2) from the value obtained by linear best fit, divided by ? max = 100 /s (resp. ? max = 300 /s for mr2): {} 100 , / ,..., / , ) ( ) ( max max max max max _ ? ? ? ? ? ? ? ? ? ? + ? ? ? ? ? ? ? ? ? = s step s step yr yr max le i i fit best i cross axis sensitivity this is the sensitivity of the module to angular rates applied to the non-sensitive axes, which are perpendicular to the sensitive axis and where the module is mounted with negligible angle error to a defined reference mark of the housing. the cross axis sensitivity is then defined as the percentage of the off-axis input rate around (along) the non-sensitive axes seen at the output. the specified limit refers to an applied rate of 900/s . signal update time the signal update time is the time elapsed between the start of one data transmission and the next. the specified value is guaranteed by design. note: data transmission time must be much shorter than the signal update time (see spi communication speed limits in the table above). temperature signal tolerance the temperature signal is provided by a silicon temperatur e sensor integrated into the asic. the temperature signal tolerance indicates the maximum error between the environm ent temperature and the temperature of the silicon. micro linearity the micro linearity mle error is the maximum deviation of the gradient between two adjacent rates from the gradient fit best slope _ of the linear best fit ) ( _ ? fit best yr {} 100 / ,..., / , 1 / ) ( ) / ( max max max _ ? ? ? ? ? ? ? ? ? ? ? ? ? + ? ? ? ? ? ? ? ? ? + ? = s step s step slope s step yr s step yr max mle i fit t bes i i recovery time after over-range the recovery time is the time elapsed between the instant when the physical applied rate enters the measurable range (from an out of range value) and the time when the circuit del ivers a rate output value within specifications. in-run drift of rate bias this is the maximum drift of the rate output within the first 5 minutes after power-on at constant ambient temperature and zero rate applied, compared to the bias value measured at the end of the startup. during these 5 min, the rate output is recorded at intervals of 10ms or less and the bias is computed using a moving average of 128 samples. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 25 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc zero rate temperature drift velocity maximum rate drift under worst case temperature change 5 k/min, i.e. at maximum heat up or cool down rate. total zero rate error maximum deviation of zero rate output at zero physical input rate including all errors from temperature, power supply, ageing, and other. phase response this parameter refers to the maximum phase shift between physi cal input rate (sinusoidal signal with 5hz frequency) and the corresponding output rate signal. additional phase shifts due to communication time via spi (and a dditionally e.g. can in the application) have to be taken into consideration. output value on over-range under applied physical angular rates exceeding the specified range, the value of the rate output saturates at the maximum value (128/s for mr1 and 512/s for mr2, with the sign depending on the direction of the rate applied) and stays in saturation up to physical rates of 900 /s. recovery time after shock the recovery time after shock defines the maximum time allow ed to the gyro module to return in normal operating conditions, after the decay of a half-sine shock excitation of 50g amplit ude and 10ms duration. the ?normal operating conditions? is the state in which all the module parameters are in agreement with the present specification. acceleration cross sensitivity / vibration susceptibility to avoid erroneous output signals under automotive operation condi tions, the gyro module offers special shock and vibration resistivity. the requirements are based on the iso standard 16750-3 for passenger cars. the power spectral density of the relevant vibration on gyro module level is given by f / hz g2 / hz 10 0.21 55 0.21 1000 0.015 as equivalent total acceleration 6.9 g is assumed. the signal deterioration does not exceed 2 /s offset shift and 1.5 /s rms noise level under these vibration levels. in the frequency range 0 hz to 10 khz the acceleration cross sensit ivity of the sensor element is less than 0.01 (/s)/(m/s2) for static and dynamic accelerations. acceleration cross sensitivi ty / shock sensitivity the acceleration cross sensitivity limits the maximum allow ed rate output change related to static and dynamic linear accelerations. it is defined as the rate output change divided by the applied acceleration amplitudes for the defined test shock pulses with half sine waves of 10 ms duration and with amplitudes of 10 g, 25 g, 50 g, and 100 g. no sticking effects of the moving mems structures occur under hi gh shock levels like direct impact or drop from 1.2m onto concrete floor according to the standard automotive drop test requirements. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 6. spi communication 6.1. general information the sd70x spi communication channel allows the host to get info rmation of various types from the asic. physical settings of the communication need phase to be set to 1 and polarity to 0. some more words about phase and polarity can be found at the end of this document. the spi communication is managed according to a master-slave paradigm where the host always acts as the master and the asic as the slave. the spi communication must conform to a protocol obeying to the following rules: the communication can be thought as based on a per-session m ode: the master (host) starts a session by sending a message to the slave (asic) which in turn replies with the answer related to the query received in the previous session. the very first answer - since can not re ly on a previous one - is simply the state (see below) of the asic. the asic answer ends the session. all messages (in both directions) are fixed size ( 64 bits ); all messages (in both directions) are formatted accordingly to the following overall structure: general message structure byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 56 55 48 47 40 39 32 31 24 23 16 15 8 7 0 hinfo1 hinfo2 payload tinfo bit-order : bit 63 is the first one sent, bit 0 the last one. hinfo1, hinfo2 and tinfo are mandatory fields for all mess age types. payload is the portion specifically arranged for any particular message. 6.1.1. hinfo1 hinfo1 content adheres to the following structure: command sent by the host hinfo1 (rx by spi interface) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 acnt opcode acnt is a counter incremented by 1 at each sent telegram. its value can be checked by the asic. the host must increment this value every telegram sending (modulo 8: a fter ?111? the counter restarts from 0). opcode : this field tells the asic which action has to be performed (it is the command code). answer sent by the asic hinfo1 (tx by spi interface) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 acnt opcode hw hw(statb, rate) or register(iwdogb, diagb) acnt : this value is incremented modulo 8 every telegram sending. opcode : the value of this field is the opcode of the telegram which this answer is related to. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 27 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 6.1.2. hinfo2 for the purposes of this document, the host has not to take care of this field (it can be filled with 0). hinfo2 content from the asic adheres to the following structure: answer sent by the asic hinfo2 (tx by spi interface) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 bit_n lms diag_buf_valid iwd warn sw status input hw hw reserved reserved apb register/hw here is a summarized description of the fields as filled by the asic. it is beyond the purposes of this document to deeply explain the meaning of each field. bit_n set by the hardware. bit_n=0 no internal failure (physical pin bit=1). bit_n=1 internal failure (physical pin bit=0). lms set by the hardware. lms=1 crc or frame error in previous telegram. lms=0 no errors in previous telegram. diag_buf_valid set by the hardware. reserved. iwd set by the hardware. reserved. warn set by the hardware. reserved sw status current status of the software application. possible status values are reported in the table below sw status value description initmode 0x00 system initialization phase. check of self diagnosis functions started. spi sw commands not available. bit_n is forced to 1 (fail); rate values are not meaningful. readyforspi 0x01 all spi commands available. bit_n is forced to 1 (fail); rate values are not meaningful. readyforfsenable 0x02 check of self diagnosis functions completed. agc/pll lock still not reached. bit_n is forced to 1 (fail); rate values are not meaningful. normalmode 0x03 first agc/pll lock reached. bit_n is ?0? if the self-diagnosis does not detect any failure. rate values are valid if bit_n = 0. rreserved 0x04 - reserved 0x05 - overrun error 0x06 this value is directly imposed by the hardware in case of spi overrun errors (a sw command has been received too early, while previous sw command was still in progress, so it will be ignored). resetongoing 0x07 the asic is going to perform an auto-reset in no more than 25 ms. 6.1.3. tinfo tinfo contains the cyclic redundancy ( crc ) code of the telegram. the host and the asic use the same algorithm to compute the crc. the algorithm used is explained near the end of this document. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 6.2. readrate opcode (0x01) this command is used to get rate and temperature values from the asic. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 reserved reserved reserved reserved reserved tinfo all ?reserved? fields can be filled with 0es. example of a rate telegram (bytes are space separated and in hexadecimal format): 21 00 00 00 00 00 00 38 answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 temp ratemr1 msb ratemr1 lsb ratemr2 msb ratemr2 lsb tinfo temp type is an unsigned integer over 8 bits. it reports the tem perature in c (t) according to the following formula: t (c) = temp ? 80 c ratemr1/ ratemr2 are signed integers over 16 bits. they report the angular speed in /s, according to the following formulas: ratemr1 (/s) = ratemr1 / 256 ratemr2 (/s) = ratemr2 / 64 free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 29 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 6.3. readstatus opcode (0x02) this command is used to get the current status of the self-diagnosis.. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 reserved reserved reserved reserved reserved tinfo all ?reserved? fields can be filled with 0es. example of a status telegram (bytes are space separated and in hexadecimal format): 02 00 00 00 00 00 00 b0 answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 statusinfo hwinfo (reserved) tinfo msb ? ? lsb statusinfo bits 31 ? 24 23 ? 16 15 ? 8 7 ? 0 statusinfo is an unsigned integer over 32 bits. the statusinfo bits are related to the current status (real-time) of the internal self-diagnosis functions. the meaning of the status bits is listed in the following table: free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. in spi telegram 0x02 in 32-bits status info word 16 0 - reserved 0x00000001 17 1 - reserved 0x00000002 18 2 - reserved 0x00000004 19 3 - reserved 0x00000008 20 4 - reserved 0x00000010 21 5 - reserved 0x00000020 22 6 - reserved 0x00000040 23 7 p ll_fail pll_lock_error 0x00000080 24 8 - reserved 0x00000100 25 9 agc_fail a gc_lock_error 0x00000200 26 10 - reserved 0x00000400 27 11 - reserved 0x00000800 28 12 - reserved 0x00001000 29 13 - reserved 0x00002000 30 14 - reserved 0x00004000 31 15 - reserved 0x00008000 32 16 - reserved 0x00010000 33 17 - reserved 0x00020000 34 18 - reserved 0x00040000 35 19 - reserved 0x00080000 36 20 - reserved 0x00100000 37 21 ot p _fail otp check routine 0x00200000 38 22 - reserved 0x00400000 39 23 - reserved 0x00800000 40 24 - reserved 0x01000000 41 25 - reserved 0x02000000 42 26 - reserved 0x04000000 43 27 - reserved 0x08000000 44 28 - reserved 0x10000000 45 29 - reserved 0x20000000 46 30 - reserved 0x40000000 47 31 - reserved 0x80000000 hw sources event source description example in alarm word short bit name bit position sw sources example of answer from the asic 82 03 02 00 00 00 50 d1 free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 31 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 6.4. asicoperation opcode (0x0b) this is the general telegram format that can be used for seve ral subcommands, obtained by spec ifying different action types. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 actiontype ... ... ... ... tinfo actiontype: one of the following available actions action type short name description 0x00 readsysparam reserved for production tests. 0x01 readotp reserved for production tests. 0x30 readversioninfo read version information. 0x40 reserved reserved 0x50 reserved reserved 0x70 setspiphpo set new phase and polarity for the spi interface 0x80 triggerreset trigger an auto-reset of the asic in the next 25 ms. the meaning of the other bytes is related to the action type. te legram format for each different action type is detailed after this general format description. answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 actiontype echo ... ... ... ... tinfo actiontypeecho : echo of the actiontype related to this answer. the meaning of the other bytes is related to the action type. te legram format for each different action type is detailed after this general format description. 6.4.1. asicoperation (0x30): readversioninfo (action type 0x30) this command is used to read the values of several identifiers related to the version of hw and sw. the details are shown in the table below. some of the following entries are intended for production/debug only and are not detailed here. offset short name description 0 sysparam_layout_id value of sysparam_layout_id system parameter 1 sysparam_family_id value of sysparam_family_id system parameter 2 sysparam_sub_id value of sysparam_sub_id system parameter 3 filter_version_id version of the dspbank config file 4 asic_redo_id asic identifier embedded in the asic hardware. 5 app_name_id firmware application identifier free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 0x30 offset reserved reserved tinfo msb lsb offset is the 16 bits start address offset of the version bytes to be read (related to the beginning of the internal xdata variable that hosts all the version data structure). all ?reserved? fields can be filled with 0es. example of a readversioninfo telegram (bytes are space separated and in hexadecimal format): 0b 00 30 00 08 00 00 1c answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 0x30 version byte [offset] version byte [offset+1] version byte [offset+2] version byte [offset+3] tinfo version bytes are 4 bytes from the internal version data structure. note : only the values related to the version data reported in the table are meaningful. values related to offsets greater than the dimension of version data structure are undefined and can be ignored. example of answer from the asic cb 23 30 00 00 01 22 7c 6.4.2. asicoperation (0x0b): sets piphpo (action type 0x70) this command is used to change on the fly the phase and polari ty (ph/po) settings of the asic spi interface. request telegram (containing mosi command) must be exchanged with t he current (old) settings, while answer telegram (containing miso answer) must be exchanged using the new settings. note : the required ph-po settings can be directly programmed into otp parameters, so this command should not be needed. anyway it is provided for more complex situations where the host wants to decide at run-time which are the preferred settings to be used. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 0x70 0x2b 0xca phpo reserved tinfo actionkeyphpo msb lsb 6 app_primary_id firmware application primary id 7 app_secondary_id firmware application secondary id 8 module_id byte 0 (msb) 9 module_id byte 1 10 module_id byte 2 11 module_id byte 3 (lsb) module id identifier 12 trimming_version_id trimming firmware version free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 33 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc actionkeyphpo is the 16 bits key that must be provided to prev ent unintentional ph/po changes. the expected key is 0x2bca. in case of different key value the command will be rejected and the ph-po settings will not be changed. phpo : bit 1 : spi phase (0=sample on first edge, 1=sample on second edge) bit 0 : spi polarity (logic value of sclk when idle) see dedicated section about spi phase and polarity. all ?reserved? fields can be filled with 0es. example of a setspiphpo telegram (bytes are space separated and in hexadecimal format): 0b 00 70 2b ca 02 00 d4 answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 0x70 actionkeyphpoecho currphpo reserved tinfo msb lsb actionkeyphpoecho is the echo of the 16 bits key received in the mosi command. currphpo are the current (new) settings of spi phase and polari ty after the execution of this command (same format as phpo above) example of answer from the asic cb 23 70 2b ca 02 00 49 6.4.3. asicoperation (0x0b): tri ggerreset (action type 0x80) this command is used to trigger an auto-reset of the asic. the auto reset will occur from 0ms to 25 ms after receiving the command, and will be performed only if the action key matches the expected value. if the auto-reset command is accepted, the hinfo2 status is set to 0x07 ( resetongoing ); then it will restart from 0x00 after reset. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 0x80 0xe1 0x64 reserved reserved tinfo actionkeyreset msb lsb actionkeyreset is the 16 bits key that must be provided to prevent unintentional resets. the expected key is 0xe164. in case of different key value the command will be rejected and no auto-reset will be performed. all ?reserved? fields can be filled with 0es. example of a triggerreset telegram (bytes are space separated and in hexadecimal format): 0b 00 80 e1 64 00 00 3c answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 0x70 actionkeyresetecho reserved reserved tinfo msb lsb actionkeyresetecho is the echo of the 16 bits key received in the mosi command. example of answer from the asic cb 27 80 e1 64 00 00 a4 free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 6.5. readdiagbuf opcode (0x0d) this command is used to get the content of the diagnostic buffe r, i.e. the answer of a previously sent software command. command sent by the host byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 reserved reserved reserved reserved reserved tinfo all ?reserved? fields can be filled with 0es. example of a readdiagbuf telegram (bytes are space separated and in hexadecimal format): 2d 00 00 00 00 00 00 83 answer sent by the asic byte 7 byte 6 byte 5 byte 4 byte 3 byte 2 byte 1 byte 0 63 ? 56 65 ? 48 47 ? 40 39 ? 32 31 ? 24 23 ? 16 15 ? 8 7 ? 0 hinfo1 hinfo2 diagbuf [47..40] diagbuf [39..32] diagbuf [31..24] diagbuf [23..16] diagbuf [15..8] tinfo diagbuf contains the answer to the previous software command (if ready and still not sent to the host). if the answer has been already sent in the telegram just after the software command, diagbuf is replaced with the readstatus answer (see examples on section about spi command types) free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 35 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 6.6. spi commands types all the previously described spi commands can be grouped in two types, with different timing constraints. mnemonic opcode type internal answer creation time readrate 0x01 readstatus 0x02 readdiagbuf 0x0d hardware command immediate asicoperation 0x0b software command low priority 5.0 ms timing constraints for a single spi telegram are specified in section 5.10. for hardware command types, no further timi ng constraints have to be considered. for software command types (i.e. asicoperation) , an additional constraint is the time needed by the software to prepare the answer (to be exchanged in the subsequent telegram). after a software command (here named cmd_a) has been s ent by the host there are two possible cases: 1. the host waits for at least the maximum required time (see table) before sending another spi command. in this case the reply telegram will contain the answer to the previous software command. 2. the host sends a hardware command without waiting for the maximum required time. in this case the reply telegram can contain one of the following answers: a) the answer to the previous software command, if already available. b) the status telegram (0x02), if t he software answer is not yet prepared. in this case the host can get the answer to the software command later, after the maximum required time, by sending the readdiagbuf command (the answer to the software command will then be available in the telegram exchanged after this readdiagbuf command) note: is not allowed to send another software command be fore the maximum required time from previous software command is elapsed. mosi miso csn cmd a1 (hw) cmd a2 (hw) cmd a3 (sw) cmd b1 (hw) cmd b2 (hw) cmd b3 (sw) cmd a1 (hw) cmd a2 (hw) cmd a3 (sw) cmd b1 (hw) cmd b2 (hw) minimum required time time diagram example for case 1 free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. mosi miso csn cmd a1 (sw) cmd a2 (hw) cmd a3 (hw) status (hw) cmd a2 (hw) read diagbuf cmd a3 (hw) cmd b1 (sw) cmd b2 (hw) cmd b3 (hw) cmd b1 (sw) cmd b2 (hw) read diagbuf cmd b3 (hw) cmd a1 (sw) minimum required time status (hw) minimum required time time diagram for case 2 (example of both possible situations) free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 37 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 6.8. crc the correct crc value has to be provided by the host in the tinfo field in order to have the asic accept and process the command telegram. any error in the crc value makes the asic reject the incoming telegram and reply with the extended status telegram. the algorithm that has to be used to co mpute the crc value is showed by means of a real programming language (ansi standard c). it can be used as is in an appropriate programming context. the source code simply contains a vector ? the lookup table ? as well as a function taking a 7 bytes array input and returning the crc value of the input array. /***************************************************************** begin of crc lookup table *****************************************************************/ unsigned char crctable [256] = { 0x00, 0x1d, 0x3a, 0x27, 0x74, 0x69, 0x4e, 0x53, 0xe8, 0xf5, 0xd2, 0xcf, 0x9c, 0x81, 0xa6, 0xbb, 0xcd, 0xd0, 0xf7, 0xea, 0xb9, 0xa4, 0x83, 0x9e, 0x25, 0x38, 0x1f, 0x02, 0x51, 0x4c, 0x6b, 0x76, 0x87, 0x9a, 0xbd, 0xa0, 0xf3, 0xee, 0xc9, 0xd4, 0x6f, 0x72, 0x55, 0x48, 0x1b, 0x06, 0x21, 0x3c, 0x4a, 0x57, 0x70, 0x6d, 0x3e, 0x23, 0x04, 0x19, 0xa2, 0xbf, 0x98, 0x85, 0xd6, 0xcb, 0xec, 0xf1, 0x13, 0x0e, 0x29, 0x34, 0x67, 0x7a, 0x5d, 0x40, 0xfb, 0xe6, 0xc1, 0xdc, 0x8f, 0x92, 0xb5, 0xa8, 0xde, 0xc3, 0xe4, 0xf9, 0xaa, 0xb7, 0x90, 0x8d, 0x36, 0x2b, 0x0c, 0x11, 0x42, 0x5f, 0x78, 0x65, 0x94, 0x89, 0xae, 0xb3, 0xe0, 0xfd, 0xda, 0xc7, 0x7c, 0x61, 0x46, 0x5b, 0x08, 0x15, 0x32, 0x2f, 0x59, 0x44, 0x63, 0x7e, 0x2d, 0x30, 0x17, 0x0a, 0xb1, 0xac, 0x8b, 0x96, 0xc5, 0xd8, 0xff, 0xe2, 0x26, 0x3b, 0x1c, 0x01, 0x52, 0x4f, 0x68, 0x75, 0xce, 0xd3, 0xf4, 0xe9, 0xba, 0xa7, 0x80, 0x9d, 0xeb, 0xf6, 0xd1, 0xcc, 0x9f, 0x82, 0xa5, 0xb8, 0x03, 0x1e, 0x39, 0x24, 0x77, 0x6a, 0x4d, 0x50, 0xa1, 0xbc, 0x9b, 0x86, 0xd5, 0xc8, 0xef, 0xf2, 0x49, 0x54, 0x73, 0x6e, 0x3d, 0x20, 0x07, 0x1a, 0x6c, 0x71, 0x56, 0x4b, 0x18, 0x05, 0x22, 0x3f, 0x84, 0x99, 0xbe, 0xa3, 0xf0, 0xed, 0xca, 0xd7, 0x35, 0x28, 0x0f, 0x12, 0x41, 0x5c, 0x7b, 0x66, 0xdd, 0xc0, 0xe7, 0xfa, 0xa9, 0xb4, 0x93, 0x8e, 0xf8, 0xe5, 0xc2, 0xdf, 0x8c, 0x91, 0xb6, 0xab, 0x10, 0x0d, 0x2a, 0x37, 0x64, 0x79, 0x5e, 0x43, 0xb2, 0xaf, 0x88, 0x95, 0xc6, 0xdb, 0xfc, 0xe1, 0x5a, 0x47, 0x60, 0x7d, 0x2e, 0x33, 0x14, 0x09, 0x7f, 0x62, 0x45, 0x58, 0x0b, 0x16, 0x31, 0x2c, 0x97, 0x8a, 0xad, 0xb0, 0xe3, 0xfe, 0xd9, 0xc4}; /***************************************************************** end of crc lookup table *****************************************************************/ //! \brief crc8_poly1d calculates crc8 checksum //! \param a 7 bytes long array whose crc has to be computed. the 0 indexed byte is the most significant byte //! \return an unsigned char that represents the crc value //! \pre actual parameter contains at least 7 elements //! \post //! this function generates the crc checksum for the 7 input bytes using //! polinomial \f$x^8+x^4+x^3+x^2+1\f$.*/ unsigned char crc8_poly1d ( const unsigned char * p_data){ unsigned char crc = 0xff, i; for (i = 7; i > 0; --i){ // every byte is xored with table value ?addressed? on the basis of its own value crc = crctable [crc ^ p_data [i]]; } return ( ~ crc ); // final not } free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. 6.9. spi phase and polarity the sd_rate_spi mode is programmable result ing in the following possible behaviors: the mosi pin (spi data input for sd705) is sampled in co rrespondence of the sclk edge indicated with an arrow. the miso pin (spi data output for sd705) is updated at the opposite edge. the default configuration for the spi interface of sd705 is phase set to 1 and polarity to 0. free datasheet http://
? 2010. proprietary data. all rights reserved by sensordynamics ag entwicklungs- und produktionsges ellschaft (below sd) includin g the right to file industrial property rights. sd retains the sole power of distri bution, such as reproduction, c opying, distribution, adaptation, merger and translation. reproduction, copying, distribution, adaptati on, merger and translation, in part or w hole, without the prior written consent of sd, is prohibited. the information given in this document shall in no event be regarded as a guarantee of conditi ons or characteristics. page 39 sensordynamics ag i schloss eybesfeld 1e. 8403 lebring i austria i +43-3182-40160-0 i info@sens ordynamics.cc i www.sensordyna mics.cc 6.10. spi timing specification csn sclk miso mosi 5 2 1 7 4 4 9 3 10 bit 63 bit 63 bit 62 bit 62 bit 61 bit 61 bit 1 1 bit 0 bit 0 6 8 n parameter symbol min max unit comment 1 sclk period t sclk _ per 150 ns 2 enable lead time t en _ lead 280 ns 4 tsys_clk 3 enable lag time t en _ lag 20 ns same as 8 (mosi hold time) 4 sclk low, high time t sclk _ low , t sclk _ high 75 ns 5 miso activation time t miso _ act 210 280 ns 3 - 4 tsys_clk 6 sclk to miso time t miso _ su 20 ns 7 mosi setup time t mosi _ su 20 ns 8 mosi hold time t mosi _ hold 20 ns 9 csn high time t csn _ high 210 ns 3 tsys_clk 10 cs high to miso hz t csn _ hz 0 20 ns notes: 1. some of the numerical values are dependent on the internal cl ock period tsys_clk (assumed as 70 ns in this table) 2. some values are still under characterization 3. miso and mosi data are asynchronously shifted 4. the figure refers to the case in which the spi configuration is phase set to 1 and polarity set to 0. 5. miso activation time is due to some actions performed in the sys_clk domain on the shi ft registers before switching to the asynchronous clocking using sclk. 6. the minimum sclk period can be calculated as follows: t ho : delay of the output pad of the host module t hi : delay of the input pad of the host module t l : delay of the interconnections t go : delay of the output pad of the gyro module t gi : delay of the input pad of the gyro module t reg : additional time for internal sampling operations t ho + 2t l + t gi + t reg + t go + t hi < ? t sclk a raw estimation could be: t ho , t go : 1-3 ns t hi , t gi : 3-10 ns t reg : 20 ns max ~= ( 90 ns + 4t l ) < t sclk liability clause unless otherwise set forth in sds terms and conditions of trade sd disclaims any warranty, express, statutory, implied, or by description regarding the information set forth herein or regarding the freedom of the described devices from patent infringement. sd reserves the right to change the information c ontained herein at any time without notice. therefore prior to designing this product into a system, it is necessary to check with sd for current information. while the information in this publication has been checked, no responsibility, however, is assumed for inaccuracies. free datasheet http://

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