ADIS16460 Teensyduino (Arduino for Teensy) Demo
An example C++ library and Teensyduino project for the ADIS16460 iSensor Six Degrees of Freedom 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 ADIS16460 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 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 (v1.6.11 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 ADIS16460 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 ADIS16460 to properly operate.
You'll need to build a cable to interface the sensor with the ADIS16IMU4/PCBZ. The image below shows a custom Teensy interface board for iSensors 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 ADIS16460_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:
The demo software will only update the screen ~2 times/second, but every sample is being captured by the interrupt service routine.
A single burst frame should look like this:
