L3G4200D随机启动，具有不同的零速率漂移

我们在项目中使用了L3G4200D速率陀螺仪。

部分设置涉及从传感器获取校准数据（传感器本身报告的零速率漂移与温度的关系）。

在应用软件中应用收集的校准数据后，我们发现以下问题：
- 每当我们启动并初始化传感器时，与先前收集的校准数据相比，随机获得不同的零速率漂移行为
- 似乎有两种不同的状态，一种与我们的校准匹配，另一种与我们的校准不匹配
- “交替”状态下的剩余漂移似乎是可重复的


我们怀疑传感器可能在加电时随机加载（或不加载）工厂校准表。

如果我们检测到“坏状态”，我们可以将传感器重新上电一次或多次（通过CTRL_REG1），直到我们得到与我们的校准数据匹配的状态。
但是你可以想象这并不是真的可以接受，因为设备需要是静态的，以便应用软件测量启动时的残余漂移。

已经在几个具有不同幅度的传感器上观察到该行为。

我们用于初始化L3G4200D的顺序如下：
- 通过在CTRL_REG1上写入00111111来设置数据速率，上电位和X / Y / Z使能
- 通过将10010000写入CTRL_REG4来设置满量程角速率
- 通过将01000000写入CTRL_REG5来启用FIFO
- 通过将01001010写入FIFO_CTRL_REG来设置FIFO模式和水印值

这是一个已知的问题，是否有一种方法可以预测启动传感器始终处于相同的“校准状态”？

谢谢和亲切的问候


＃L3G4200D漂移



以下为原文




We use an L3G4200D rate-gyro in our project.

Part of the setup involves acquiring calibration data from the sensor (zero-rate drift versus temperature as reported by the sensor itself).

After applying the collected calibration data in the application software we observe the following issue:
- Whenever we power-up and initialize the sensor there is a random chance to get a different zero-rate drift behavior compared to the calibration data previously collected
- There seem to be two different states, one which matches our calibration and another which does not
- The residual drift in the ''alternate'' state seems to be repeatable


We suspect the sensor may be randomly loading (or not loading) a factory calibration table on power up.

If we detect the ''bad state'' we can power-cycle the sensor one or more times (via CTRL_REG1) until we get the state which matches our calibration data.
However as you can imagine this is not really acceptable as the equipment needs to be static for the application software to measure the residual drift on startup.

The behavior has been observed on several sensors with varying magnitude.

The sequence we use for initializing the L3G4200D is as follows:
- Set data rate, power-up bit and X/Y/Z enable by writing 00111111 on CTRL_REG1
- Set full-scale angular rate by writing 10010000 to CTRL_REG4
- Enable FIFO by writing 01000000 to CTRL_REG5
- Set FIFO mode and watermark value by writing 01001010 to FIFO_CTRL_REG

Is this a known issue, and is there a way to predictably start the sensor always in the same ''calibration state''?

Thanks and kind regards


  
#l3g4200d-drift