IMU (Inertial Measurement Unit)
M-G352PDE1
Data Sheet
Rev.20140117
NOTICE
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©SEIKO EPSON CORPORATION 2014, All rights reserved.
Table of Contents
Table of Contents .............................................................................................................. i
1. Overview ..................................................................................................................... 1
1.1
1.2
1.3
2.1
2.2
2.3
2.4
2.5
3.1
3.2
Features ....................................................................................................................................... 1
Applications ................................................................................................................................ 1
Functional Block Diagram ......................................................................................................... 1
Absolute Maximum Ratings ...................................................................................................... 2
Recommended Operating Condition........................................................................................ 2
Characteristics and Electrical Specifications ......................................................................... 3
Timing Specifications ................................................................................................................ 5
Socket Pin Layout and Functions ............................................................................................ 7
Outline Dimensions .................................................................................................................... 8
Socket Dimensions .................................................................................................................. 10
2. Product Specifications .............................................................................................. 2
3. Mechanical Dimensions ............................................................................................ 8
4. Typical Performance Characteristics ......................................................................11
5. Basic Operation ....................................................................................................... 13
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
5.12
5.13
Connection to Host .................................................................................................................. 13
Operation Mode ........................................................................................................................ 14
Functional Block Diagram ....................................................................................................... 15
Data Output Timing .................................................................................................................. 16
Data Ready Signal .................................................................................................................... 16
Sampling Counter..................................................................................................................... 17
GPIO ........................................................................................................................................... 17
Self Test ..................................................................................................................................... 17
External Trigger Input .............................................................................................................. 17
External Counter Reset Input .................................................................................................. 20
Checksum ................................................................................................................................. 21
Automatic Start (For UART Auto Mode Only) ........................................................................ 22
Filter ........................................................................................................................................... 22
6. Digital Interface ........................................................................................................ 25
6.1 SPI Interface .............................................................................................................................. 26
6.1.1 SPI Read Timing (Normal Mode) ........................................................................................ 27
6.1.2 SPI Write Timing (Normal Mode)......................................................................................... 28
6.1.3 SPI Read Timing (Burst Mode)............................................................................................ 29
6.2 UART Interface.......................................................................................................................... 30
6.2.1 UART Read Timing (Normal Mode) .................................................................................... 31
6.2.2 UART Read Timing (Burst Mode) ........................................................................................ 32
6.2.3 UART Write Timing .............................................................................................................. 32
6.2.4 UART Auto Mode Operation ................................................................................................ 33
6.3 Data Packet Format .................................................................................................................. 34
7. User Registers.......................................................................................................... 38
7.1
BURST Register (Window 0) ................................................................................................... 40
Seiko Epson Corporation
i
M-G362PDC1 Data Sheet
Rev. 20140117
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7.10
7.11
7.12
7.13
7.14
7.15
7.16
7.17
7.18
MODE_CTRL Register (Window 0) ......................................................................................... 40
DIAG_STAT Register (Window 0) ............................................................................................ 41
FLAG(ND/EA) Register (Window 0) ........................................................................................ 42
GPIO Register (Window 0) ....................................................................................................... 42
COUNT Register (Window 0) ................................................................................................... 43
TEMP Register (Window 0) ...................................................................................................... 43
GYRO Register (Window 0) ..................................................................................................... 44
ACCL Register (Window 0) ...................................................................................................... 44
SIG_CTRL Register (Window 1) .............................................................................................. 45
MSC_CTRL Register (Window 1) ............................................................................................ 45
SMPL_CTRL Register (Window 1) .......................................................................................... 46
FILTER_CTRL Register (Window 1) ........................................................................................ 46
UART_CTRL Register (Window 1) .......................................................................................... 47
GLOB_CMD Register (Window 1) ........................................................................................... 48
BURST_CTRL1 Register (Window 1)...................................................................................... 49
BURST_CTRL2 Register (Window 1)...................................................................................... 50
WIN_CTRL Register (Window 0,1) .......................................................................................... 50
8. Sample Program Sequence..................................................................................... 51
8.1 SPI Sequence ............................................................................................................................ 51
8.1.1 Power-on sequence (SPI) ................................................................................................... 51
8.1.2 Register read and write (SPI) .............................................................................................. 51
8.1.3 Sampling data (SPI) ............................................................................................................ 51
8.1.4 Selftest (SPI)........................................................................................................................ 54
8.1.5 Software Reset (SPI) ........................................................................................................... 55
8.1.6 Flash Test (SPI) ................................................................................................................... 55
8.1.7 Flash Backup (SPI).............................................................................................................. 55
8.1.8 Filter setting (SPI) ................................................................................................................ 56
8.2 UART Sequence........................................................................................................................ 56
8.2.1 Power-on sequence (UART) ............................................................................................... 56
8.2.2 Register read and write (UART) .......................................................................................... 56
8.2.3 Sampling data (UART)......................................................................................................... 57
8.2.4 Selftest (UART).................................................................................................................... 59
8.2.5 Software Reset (UART) ....................................................................................................... 59
8.2.6 Flash Test (UART) ............................................................................................................... 60
8.2.7 Flash Backup (UART).......................................................................................................... 60
8.2.8 Filter setting (UART) ............................................................................................................ 60
8.2.9 Auto Start (UART only) ........................................................................................................ 61
9. Handling Notes......................................................................................................... 62
9.1
9.2
Cautions for attaching ............................................................................................................. 62
Other cautions .......................................................................................................................... 62
10. Part Number / Ordering Info. ................................................................................... 63
11. Evaluation Tools ....................................................................................................... 63
Revision History ............................................................................................................. 64
ii
Seiko Epson Corporation
M-G352PE1 Data Sheet
Rev.20140117
1.
Overview
The M-G352PDE1 is a small form factor inertial measurement unit (IMU) with 6 degrees of freedom:
triaxial angular rates and linear accelerations, and provides high-stability and high-precision
measurement capabilities with the use of high-precision compensation technology. A variety of
calibration parameters are stored in memory of the IMU, and are automatically reflected in the
measurement data being sent to the application after the power of the IMU is turned on. With
general-purpose SPI/UART support for host communications, the M-G352PDE1 reduces technical
barriers for users to introduce inertial measurement and minimizes design resources to implement
inertial movement analysis and control applications. The features of the IMU such as high stability, high
precision, and small size make it easy to create and differentiate applications in various fields of
industrial systems.
1.1
Features
Small Size, Lightweight
: 24x24x10mm, 7grams
Low-Noise, High-stability
Gyro Bias Instability
: 6 deg/hr
Angular Random Walk
: 0.2 deg/
hr
Initial Bias Error
: to 0.5 deg/s (1σ)
6 Degrees Of Freedom
Triple Gyroscopes
:
±400
deg/s,
Tri-Axis Accelerometer
:
±6
G
16/32bit data resolution
Digital Serial Interface
: SPI / UART
Calibrated Stability (Bias, Scale Factor, Axial alignment)
Data output rate
: to 2k Sps
External Trigger Input / External Counter Reset Input
Calibration temperature range
: −20°C to +70°C
Operating temperature range
: −40°C to +85°C
Single Voltage Supply
: 3.3 V
Low Power Consumption
: 30mA (Typ.)
1.2
Applications
Motion analysis and control
Unmanned systems
Navigation systems
Vibration control and stabilization
Pointing and tracking systems
1.3
Functional Block Diagram
Temp.
Sensor
Analog Front End
Signal Conditioning
Signal
Processing
Calibration
A/D
Digital
Processing
Self test
SPI
Digital Interface
UART
SIN
SOUT
BRATE
SDI
SDO
SCLK
/SS
VCC
GPIO
GND
/RST
DRDY
(GPIO1)
GPIO2
(EXT)
GPIO3
Triple
Gyroscope
Tri-axis
Accelerometer
Figure 1.1 Functional Block Diagram
M-G352PDE1 Data Sheet
Rev.20140117
Seiko Epson Corporation
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