The ADIS16362 is a high-performance IMU that uses a serial peripheral interface for data communications. This interface enables direct connection with a large variety of embedded processor products. This electrical connection typically only requires 5 I/O lines for synchronous data collection, as shown in the following figure:
This Wiki will cover all members of the ADIS1636x family: ADIS16360 ADIS16362, ADIS16364, ADIS16365, ADIS16367, ADIS16400 ADIS16405, ADIS16407.
For those who are on a tight timeline, connecting the ADIS1636xBMLZ or ADIS1640xBMLZ to an embedded controller will provide the most flexibility in developing application firmware and will more closely reflect the final system design. For example, the ADIS16362/PCBZ is the breakout board for the ADIS16362 and may provide assistance in the process of hooking it up to an existing embedded processor system. Also see the following breakout board pages:
The interface board that comes with ADIS1636x/PCBZ or ADIS1640x/PCBZ orders has two 12-pin connectors: J1 contains the power, ground and SPI signals while J2 contains the DIOx pins (including data-ready). The ADIS16IMU1/PCBZ provides access to all of these functions through one 16-pin connector, which simplifies cabling requirements. Click on the following link for more information on the ADIS16IMU1/PCBZ:
In addition to offering the convenience of one 16-pin connector, the ADIS16IMU1/PCBZ also offers M2x0.4mm tapped holes and machine screws to attach any ADIS1636xBMLZ or ADIS1640xBMLZ product to it.
NOTE: Order ADIS16360BMLZ, ADIS16362BMLZ, ADIS16364BMLZ, ADIS16365BMLZ, ADIS16367BMLZ, ADIS16400BMLZ, ADIS16405BMLZ or ADIS16407BMLZ separately, as they are not included with the ADIS16IMU1/PCBZ.
For those who would prefer to perform PC-based evaluation of the ADIS1636x or ADIS1640x products, before developing their own embedded system, the EVAL-ADIS is the appropriate system to use. The remainder of this Wiki site will focus on PC-based evaluation with the EVAL-ADIS system. Here is a list of equipment required for this:
NOTE: Substitute ADIS16360BMLZ, ADIS16364BMLZ, ADIS16365BMLZ, ADIS16367BMLZ, ADIS16400BMLZ, ADIS16405BMLZ or ADIS16407BMLZ for the ADIS16362BMLZ, as needed for specific application requirements.
Windows XP, Vista, 7
.NET Framework 3.5
NOTE: Newer versions of the .NET framework do not currently support the IMU Evaluation software package.
The ADIS16362/PCBZ includes one interface PCB, which requires two M2 or 2-56 machine screws to secure the baseplate to the system printed circuit board. The ADIS16362 product family is approximately 22 mm × 32 mm × 24 mm and provides a flexible connector interface that enables multiple mounting orientation options. Set the interface PCB aside, as it is not used for connecting the ADIS16362 to the EVAL-ADIS.
NOTE: The machine screws that come with the EVAL-ADIS can have a moderate impact on local magnetic fields. For those who need the best performance out of the magnetometer solution, consider replacing them with machine screws that are made out of aluminum or other non-ferrous materials.
NOTE: Do not plug the EVAL-ADIS into the USB cable at this stage of the setup. Wait until the software installation is complete.
The ADIS16362 installs directly into the J4 connector of the EVAL-ADIS The B-holes on the EVAL-ADIS, are used for ADIS16362 mounting and marked in the picture below.
WARNING: Make sure that the connector is in proper alignment before pressing it in. Misalignment can cause pin damage and exposure to harmful conditions.
The ADIS16362 installation, is a simple two-step process:
1. Secure the baseplate using 2 M2 x 0.4mm x 6mm machine screws and the B-holes on the EVAL-ADIS.
2. Press the connector into its mate.
For removal, 1. Gently pry the connector from its mate using a small slot
screwdriver. 2. Remove the screws and lift the part up.
Never attempt to unplug the connector by pulling on the plastic case or baseplate. Although the flexible connector is very reliable in normal operation, it can break when subjected to unreasonable handling. When broken, the flexible connector cannot be repaired.
The following picture shows JP1 in the +5V position required for the ADIS16362 product family sensors. Note the JP1 jumper (factory-default) setting on the EVAL-ADIS is +3.3V. The power management system provides jumper selection for three device under test (DUT) power options: 5 V (USB), 3.3 V, and an external power option. The 5 V option provides access to the USB’s 5 V supply voltage for the DUT, and the 3.3 V option uses a linear regulator, 400 μF of bulk capacitance, and a soft start circuit to manage transient currents on the USB port.
NOTE: If JP1 is left on +3.3V, all outputs may not respond and will appear to be saturated in one direction or the other. See the following picture for an example of this behavior.
Click here to download the latest version of the IMU Evaluation software.
Click here to download the latest drivers for the EVAL-ADIS2.
The IMU Evaluation Software is a Microsoft Windows (.NET) application that works in conjunction with the EVAL-ADIS2, in order to provide users with a PC-Based interface to most ADIS16xxx products. This platform enables observation of basic sensor functions, read/write access to all user-accessible registers, and full-rate data acquisition, which is synchronous with data production of each ADIS16xxx.
Once the IMU Evaluation software loads, you should be presented with a window similar to the image shown below.
The image below has been color-coded to illustrate the different parts of the IMU Evaluation Software. These colored sections will be referred to in the following sections.
The drop-down menus highlighted in orange list additional features and utilities that make up the core functionality of the evaluation software.
- The Devices menu provides a list of supported products. Selecting a product from this list will configure the IMU evaluation software register map. Each device has a unique register map that must be selected to ensure proper sensor operation. The green box shows the active device. In this example, the ADIS16448 is selected.
- The Register Access option calls a sub-menu that lists all user-configurable registers available from the part number selected in the “Devices” drop-down menu. It also provides read/write access to each register.
- The Data Capture option calls a sub-menu designed to enable synchronous data logging from the selected device.
- The Demos option calls a 3-D visualization tool. This feature is only supported for the ADIS16480 and ADIS16448 devices.
- The Tools option calls a sub-menu that displays USB diagnostic information.
- The About option provides more detailed software revision information.
The purple box shows the primary, inertial output registers for the selected device. These values are updated in real-time after pressing the Read button (identified by a red box).
The yellow box shows three waveform recorder windows. Each window allows for plotting the three primary sensor types (gyroscopes, accelerometers, and magnetometers [if supported]). The top subplot displays gyroscope data, the middle plot displays accelerometer data and the bottom plot displays magnetometer data. Each plot color corresponds to the colors displayed in the “Output Registers” window (highlighted in purple).
The Register Access window provides read and write access to all user-accessible registers listed in the selected device's datasheet. The image below shows a screenshot of the window.
The color-coded image below is referenced in the following section.
The purple box sorts each set of registers into a standard category. The available categories are:
- Control/Status - General sensor configuration, alarm, and metadata registers
- Output - Inertial sensor output registers
- Calibration - User offset and misc. calibration registers
The section highlighted by the red box lists all of the registers in the selected category. Click on the register name to select a register for individual read/write access.
The green box identifies the read/write control options for the current register selection.
The Update Registers in Category button (shown in an orange box above) automatically reads all of the registers shown in the selected category (red box) and updates their contents in the GUI.
The section highlighted in yellow identifies provides a means of easily calling subroutines within the connected sensor. Clicking on a button is equivalent to writing a single-bit command to the respective register.
The Save Reg Settings to File programmatically reads and saves the contents of all of the registers in the current category into a *.csv (common-delimited) file. The Load Reg Settings from File button reads a target .csv file and attempts to write the saved values back into the sensor.
The Data Capture window only supports synchronous data acquisition and logging to a file on the host PC. Data samples are only read from the sensor when the data ready pin toggles, indicating that data is valid.
The color-coded image below is referenced in the following section.
The section highlighted in red lists all of the registers that are eligible for data capture. Checking the box next to each register indicates that the specified register values should be recorded once the data stream begins.
The section highlighted in green allows for customizing the file name and location of the resultant .csv files.
The section highlighted in yellow identifies the data stream configuration options.
- Record Length - The total number of samples to be captured. A sample is defined as a single “data valid” period as signaled by the data ready pin on the sensor
- Sample Rate - The instantaneous data ready rate as measured by the evaluation board
- Capture Time - The estimated data capture time in DD:HH:MM:SS format calculated based upon the instantaneous sample rate
- Add File Header - Selects whether a header displaying the contents of each column should be appended to the beginning of the .csv file
- Use Scaled Data - Signals to the software to convert the 16-bit values read from the sensor into a sign-adjusted (two's complement) scaled number. For example, when this option is enabled, be in units of degrees/second
Click here to download the latest version of the IMU Evaluation software.
Click here to download the latest drivers for the EVAL-ADIS2.
The IMU Evaluation Software is a Microsoft Windows (.NET) application that works in conjunction with the EVAL-ADIS2, in order to provide users with a PC-Based interface to most ADIS16xxx products. This platform enables observation of basic sensor functions, read/write access to all user-accessible registers, and full-rate data acquisition, which is synchronous with data production of each ADIS16xxx.
Once the IMU Evaluation software loads, you should be presented with a window similar to the image shown below.
The image below has been color-coded to illustrate the different parts of the IMU Evaluation Software. These colored sections will be referred to in the following sections.
The drop-down menus highlighted in orange list additional features and utilities that make up the core functionality of the evaluation software.
- The Devices menu provides a list of supported products. Selecting a product from this list will configure the IMU evaluation software register map. Each device has a unique register map that must be selected to ensure proper sensor operation. The green box shows the active device. In this example, the ADIS16448 is selected.
- The Register Access option calls a sub-menu that lists all user-configurable registers available from the part number selected in the “Devices” drop-down menu. It also provides read/write access to each register.
- The Data Capture option calls a sub-menu designed to enable synchronous data logging from the selected device.
- The Demos option calls a 3-D visualization tool. This feature is only supported for the ADIS16480 and ADIS16448 devices.
- The Tools option calls a sub-menu that displays USB diagnostic information.
- The About option provides more detailed software revision information.
The purple box shows the primary, inertial output registers for the selected device. These values are updated in real-time after pressing the Read button (identified by a red box).
The yellow box shows three waveform recorder windows. Each window allows for plotting the three primary sensor types (gyroscopes, accelerometers, and magnetometers [if supported]). The top subplot displays gyroscope data, the middle plot displays accelerometer data and the bottom plot displays magnetometer data. Each plot color corresponds to the colors displayed in the “Output Registers” window (highlighted in purple).
The Register Access window provides read and write access to all user-accessible registers listed in the selected device's datasheet. The image below shows a screenshot of the window.
The color-coded image below is referenced in the following section.
The purple box sorts each set of registers into a standard category. The available categories are:
- Control/Status - General sensor configuration, alarm, and metadata registers
- Output - Inertial sensor output registers
- Calibration - User offset and misc. calibration registers
The section highlighted by the red box lists all of the registers in the selected category. Click on the register name to select a register for individual read/write access.
The green box identifies the read/write control options for the current register selection.
The Update Registers in Category button (shown in an orange box above) automatically reads all of the registers shown in the selected category (red box) and updates their contents in the GUI.
The section highlighted in yellow identifies provides a means of easily calling subroutines within the connected sensor. Clicking on a button is equivalent to writing a single-bit command to the respective register.
The Save Reg Settings to File programmatically reads and saves the contents of all of the registers in the current category into a *.csv (common-delimited) file. The Load Reg Settings from File button reads a target .csv file and attempts to write the saved values back into the sensor.
The Data Capture window only supports synchronous data acquisition and logging to a file on the host PC. Data samples are only read from the sensor when the data ready pin toggles, indicating that data is valid.
The color-coded image below is referenced in the following section.
The section highlighted in red lists all of the registers that are eligible for data capture. Checking the box next to each register indicates that the specified register values should be recorded once the data stream begins.
The section highlighted in green allows for customizing the file name and location of the resultant .csv files.
The section highlighted in yellow identifies the data stream configuration options.
- Record Length - The total number of samples to be captured. A sample is defined as a single “data valid” period as signaled by the data ready pin on the sensor
- Sample Rate - The instantaneous data ready rate as measured by the evaluation board
- Capture Time - The estimated data capture time in DD:HH:MM:SS format calculated based upon the instantaneous sample rate
- Add File Header - Selects whether a header displaying the contents of each column should be appended to the beginning of the .csv file
- Use Scaled Data - Signals to the software to convert the 16-bit values read from the sensor into a sign-adjusted (two's complement) scaled number. For example, when this option is enabled, be in units of degrees/second
Click here to download the latest version of the IMU Evaluation software.
Click here to download the latest drivers for the EVAL-ADIS2.
The IMU Evaluation Software is a Microsoft Windows (.NET) application that works in conjunction with the EVAL-ADIS2, in order to provide users with a PC-Based interface to most ADIS16xxx products. This platform enables observation of basic sensor functions, read/write access to all user-accessible registers, and full-rate data acquisition, which is synchronous with data production of each ADIS16xxx.
Once the IMU Evaluation software loads, you should be presented with a window similar to the image shown below.
The image below has been color-coded to illustrate the different parts of the IMU Evaluation Software. These colored sections will be referred to in the following sections.
The drop-down menus highlighted in orange list additional features and utilities that make up the core functionality of the evaluation software.
- The Devices menu provides a list of supported products. Selecting a product from this list will configure the IMU evaluation software register map. Each device has a unique register map that must be selected to ensure proper sensor operation. The green box shows the active device. In this example, the ADIS16448 is selected.
- The Register Access option calls a sub-menu that lists all user-configurable registers available from the part number selected in the “Devices” drop-down menu. It also provides read/write access to each register.
- The Data Capture option calls a sub-menu designed to enable synchronous data logging from the selected device.
- The Demos option calls a 3-D visualization tool. This feature is only supported for the ADIS16480 and ADIS16448 devices.
- The Tools option calls a sub-menu that displays USB diagnostic information.
- The About option provides more detailed software revision information.
The purple box shows the primary, inertial output registers for the selected device. These values are updated in real-time after pressing the Read button (identified by a red box).
The yellow box shows three waveform recorder windows. Each window allows for plotting the three primary sensor types (gyroscopes, accelerometers, and magnetometers [if supported]). The top subplot displays gyroscope data, the middle plot displays accelerometer data and the bottom plot displays magnetometer data. Each plot color corresponds to the colors displayed in the “Output Registers” window (highlighted in purple).
The Register Access window provides read and write access to all user-accessible registers listed in the selected device's datasheet. The image below shows a screenshot of the window.
The color-coded image below is referenced in the following section.
The purple box sorts each set of registers into a standard category. The available categories are:
- Control/Status - General sensor configuration, alarm, and metadata registers
- Output - Inertial sensor output registers
- Calibration - User offset and misc. calibration registers
The section highlighted by the red box lists all of the registers in the selected category. Click on the register name to select a register for individual read/write access.
The green box identifies the read/write control options for the current register selection.
The Update Registers in Category button (shown in an orange box above) automatically reads all of the registers shown in the selected category (red box) and updates their contents in the GUI.
The section highlighted in yellow identifies provides a means of easily calling subroutines within the connected sensor. Clicking on a button is equivalent to writing a single-bit command to the respective register.
The Save Reg Settings to File programmatically reads and saves the contents of all of the registers in the current category into a *.csv (common-delimited) file. The Load Reg Settings from File button reads a target .csv file and attempts to write the saved values back into the sensor.
The Data Capture window only supports synchronous data acquisition and logging to a file on the host PC. Data samples are only read from the sensor when the data ready pin toggles, indicating that data is valid.
The color-coded image below is referenced in the following section.
The section highlighted in red lists all of the registers that are eligible for data capture. Checking the box next to each register indicates that the specified register values should be recorded once the data stream begins.
The section highlighted in green allows for customizing the file name and location of the resultant .csv files.
The section highlighted in yellow identifies the data stream configuration options.
- Record Length - The total number of samples to be captured. A sample is defined as a single “data valid” period as signaled by the data ready pin on the sensor
- Sample Rate - The instantaneous data ready rate as measured by the evaluation board
- Capture Time - The estimated data capture time in DD:HH:MM:SS format calculated based upon the instantaneous sample rate
- Add File Header - Selects whether a header displaying the contents of each column should be appended to the beginning of the .csv file
- Use Scaled Data - Signals to the software to convert the 16-bit values read from the sensor into a sign-adjusted (two's complement) scaled number. For example, when this option is enabled, be in units of degrees/second
This section currently has no ADIS16362-specific content, but the ADIS16448 Evaluation on the EVAL-ADIS Wiki Site has some good examples to start with.