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12 Data Output Signal-Processing
During Normal Mode, operation the IMU Controller Board (ICB) needs to process data from
its sensor sub-systems and prepare it for output to the user system. The ICB is continually
sampling its various sensor data sub-systems and is checking for user requests for data and
commands. It does this through a variety of interrupt-driven DMA (direct memory access) and
polled signals. A simplified diagram of the primary processes related to the gyro and
accelerometer signal-processing is shown in Figure 12-1.
12.1 Signal-Processing Diagram and Key
Table 12-1 describes some of the symbols used in the diagram.
Table 12-1: Signal-Processing Symbols
Data container; memory storage of data together with meta-data such
as timestamps
Indicates a timestamp process. The ICB uses an internal clock with
better than 20ns resolution to track relative times of various events
Indicates a low-pass filter process
Indicates the downsampling portion of sample rate reduction by a factor
of M; (M is an industry standard operator symbol for deciMation)
Indicates a switchable data path;, possibly a virtual switch as in a
software path rather than a physical switch
Indicates a differential signal output
Indicates serial data stream
Indicates a semaphore flag for inter-process communications
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