ADIS16210PCBZ datasheet(13/20 Pages) AD

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ADIS16210

Rev. A | Page 13 of 20

The pitch (θ) and roll (φ) axes provide ±180° of measurement

range, whereas the gravity (ψ) axis provides ±90° of measurement

range. The MSC_CTRL register (see Table 27) provides three

control bits that set the orientation of the device, which assigns

each accelerometer to an angle axis (pitch, roll, gravity).

Table 27. MSC_CTRL (Base Address = 0x34), Read/Write

Bits

Value

Description (Default = 0x0002)

[15:10]

Not used

[9:8]

Measurement mode

Inclinometer

Accelerometer

[7:3]

Not used

[2]

Gravity vector polarity, KGP

Negative, pointing down (−)

Positive, pointing up (+)

[1:0]

Gravity vector orientation

X = gravity vector

Y = pitch axis (θ, aP)

Z = roll axis (φ, aR)

Y = gravity vector

X = pitch axis (θ, aP)

Z = roll axis (φ, aR)

Z = gravity vector

X = pitch axis (θ, aP)

Y = roll axis (φ, aR)

Reserved

For best use of the available range and accuracy, use Bits[2:0] in

the MSC_CTRL register to establish the accelerometer that best

aligns with gravity when the device is oriented at its reference

point. For example, Figure 11 provides a reference point orien-

tation, where the z-axis accelerometer aligns with gravity, for

which the factory default setting for MSC_CTRL (0x0002) is

optimal.

Bits[1:0] provide a control for setting the axis that is most closely

aligned with the gravity vector and assigns the pitch and roll axes.

Bit 2 provides a control for the direction/polarity of this. Thus,

when using the factory default setting for MSC_CTRL, read

XINCL_OUT for the pitch angle and YINCL_OUT for the roll

angle measurements. Figure 18, Figure 19, and Figure 20 provide

several examples for these settings, which are different from the

factory programmed settings.

Figure 18. Z-Axis Gravity Vector, Negative Polarity

Set MSC_CTRL = 0x0006 (DIN = 0xB406)

Figure 19. X-Axis Gravity Vector, Positive Polarity

Set MSC_CTRL = 0x0000 (DIN = 0xB400)

Figure 20. Y-Axis Gravity Vector, Negative Polarity

Set MSC_CTRL = 0x0005 (DIN = 0xB405)

Measurement Mode

MSC_CTRL[8] establishes the primary measurement function.

Setting MSC_CTRL[8] = 1 (DIN = 0xB501) disables signal pro-

cessing on the accelerometer data, which is specific to producing

incline angle measurements.

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