The MAX21000 is a 3-axis angular rate sensor, whereas the MAX21002 and MAX21003 are 2-axis angular rate sensors. The MAX21002 can sense pitch (rotation about the x-axis) and roll (rotation about the y-axis), whereas the MAX21003 can sense pitch (rotation about the x-axis) and yaw (rotation about the z-axis).
The MAX21000 has a maximum full-scale range setting of ±2000dps, whereas the MAX21002 and MAX21003 have a maximum full-scale range setting of ±1000dps.
The WHO_AM_I register reads 0xB1 for all three devices. However, each individual device that is manufactured has a unique 48-bit serial number as die ID. This number is accessed in the SERIAL_0 to SERIAL_5 registers located in Bank 1.
The temperature sensor is enabled by default. The enable bit is located in bit 0 of the DR_CFG register, located in Bank 0 address 0x13.
The TEMP_H register has a resolution of 1°C per LSB. The TEMP_L register has a resolution of 1/256°C per LSB.
Reading the TEMP_H register alone gives the coarse temperature in Celsius.
For finer temperature readings, combine the TEMP_H and TEMP_L readings into one word, which represents the temperature in two's complement format. Dividing this result by 256 yields the temperature in Celsius.
The self-test is an electrical stimulation of the MEMS sensor. This feature allows the user to test the operation of the sensor while it is stationary, which bypasses the need for a mechanical rotation test to verify operation.
The typical value of the self test is 25% full scale. The minimum/maximum value is 10%/50% full scale.
In the User's Guide, the expected self-test output for a full-scale setting of 2000dps is ±450dps (nominal value only). A 450dps reading, with a 2000dps full scale, corresponds to ~6750 raw data counts from the MAX21000. This value can vary part to part by ±20%.
No. Bias compensation for these sensors must be done in software. Other inertial sensors from Maxim Integrated, such as the MAX21100, do have bias compensation registers.
The default mode for these devices is power-down mode. The gyroscope does not start sampling upon power-up, and takes 45ms after enabled before new data can be generated. Current consumption in power-down mode is typically 9µA.
Partially. When the PWR_MODE field in the PWR_CFG register is configured properly, the DSYNC pin can switch between two predefined power modes. The different settings and their corresponding transitions are listed in Table 1.
|PWR_MODE[2:0]||MODE (DSYNC = 0)||MODE (DSYNC = 1)|
|0XX||(Mode not dependent on DSYNC)|
The MAX21000, MAX21002, and MAX21003 require external pullup resistors for I2C communication. The SCL and SDA pins contain integrated pullups that are disabled by default. They can be enabled by writing the corresponding bits in the IO_CFG register (Bank 0, address 0x14). Since they require a register write to enable them, they cannot be used instead of external pullup resistors for I2C communication.
The interrupt pins can be configured for either open-drain or push-pull operation. This setting is controlled in the INT_CFG2 register (Bank 1, address 0x0B). Additionally, there are integrated pullup and pulldown resistors on the interrupt pins that can be enabled in the IO_CFG register (Bank 0, address 0x14).
The DR_CFG register (Bank 0, address 0x13) influences how often the data is updated. If the dr_rst_mode field is set to 00, the data is not updated until all active channels are read. ;If the field is set to 01, the data is not updated until at least one active channel is read. If the field is set to 10, the data is not be updated until the STATUS register (common bank, address 0x22) is read.
The conversion from raw output to degrees per second depends on the configured full-scale range. The data itself is output in 16-bit two's complement format, with 30,000 counts corresponding to the positive full-scale value and -30,000 counts corresponding to the negative full-scale value. If the gyroscope is configured for 2,000dps full scale range, then a reading of 30,000 corresponds to 2,000 dps. Using these two values, the sensitivity can be derived to 15 digits/dps, which is the stated sensitivity for this full-scale range in the respective data sheet. Dividing the raw counts by the sensitivity for the given full-scale range gives the converted reading in degrees per second.
The formula to convert raw data to dps is:
val_dps = sns_dout_fsc x val_raw/30000
The zero-rate level error is specified at ±0.5 dps regardless of the full-scale range. The sensitivity error is specified as a percentage and, since the sensitivity changes with the full-scale range, so does the sensitivity error.
Not exactly. The MAX21000, MAX21002, and MAX21003 utilize a delta-sigma converter architecture that samples continuously. If the DSYNC pin is used as an input to trigger writing to the internal FIFO buffer, this pin can be used to place the next available sample after the trigger event in the FIFO. Using this method, the MAX21000, MAX21002, MAX21003 can provide a sample within 1/ODR period from the trigger event to the host processor.
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