ADIS16470 Teensyduino (Arduino for Teensy) Demo

An example C++ library and Teensyduino project for the ADIS16470 iSensor Miniature MEMS Inertial Sensor

This example library was written to give engineers, students, and makers a starting point for using a high-performance, compact, precision inertial sensor. The code in this repository will provide the user with:

• A header file listing all of the unit's available registers
• Functions for reading output registers and writing control registers using 8-bit frames
  • Note that the ADIS16470 requires 16 bit SPI transactions. spi.transfer() is called twice for each transfer and CS is manually toggled to overcome the Arduino language's limitation
• Functions for performing common routines such as resetting the sensor
• Burst-mode data acquisition and checksum verification
• Example Arduino sketches which synchronously read data from the sensor and write it to the USB serial port

What do I need to get started?

• In order to compile and execute the Teensyduino sketch, you'll need to download the Arduino package (v1.8.4 as of this writing). You can download the IDE here.
• You'll also need to install the Teensyduino library provided by PJRC.
• Finally, you'll need a Teensy sold by PJRC here. Version 3.x or LC is supported.
• The main Teensyduino sketch issues a command to clear the terminal window after displaying data. For best results, connect to your Teensy using PuTTY, an open source terminal program.

How do I install the library?

Once you've installed the Arduino IDE and Teensyduino libraries, copy the ADIS16470 folder into My Documents > Arduino > libraries

Be sure to restart the Arduino IDE to refresh the library directory!

How do I connect the IMU to my Arduino?

If using a Teensy, the onboard regulator should provide enough current for the ADIS16470 to properly operate.

You'll need to build a cable to interface the sensor with the ADIS16470/PCB. The image below shows a custom Teensy interface board designed for iSensor products.

Pin assignments for the Teensy can be found in the example sketch comments.

How do I know it's working?

Once you have the sensor connected and have opened the ADIS16470_Teensy_BurstRead_Example.ino example sketch, use PuTTY to connect to the Arduino using the following settings. Note that your COM port may be different:

If everything is working, you should see a screen like this:

Note that the demo software will only update the screen ~2 times/second, but every sample is being captured by the interrupt service routine.