ADIS16488 datasheet(24/36 Pages) AD

Part #	ADIS16488

Description	Ten Degrees of Freedom Inertial Sensor

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24 / 36 page

ADIS16488

Data Sheet

Rev. B | Page 24 of 36

Linear Acceleration on Effect on Gyroscope Bias

MEMS gyroscopes typically have a bias response to linear

acceleration that is normal to their axis of rotation. The ADIS16488

offers an optional compensation function for this effect. Turn to

Page 3 (DIN = 0x8003) and set CONFIG[7] = 1 (DIN = 0x9080,

DIN = 0x9100).

Table 74. CONFIG (Page 3, Base Address = 0x0A)

Bits

Description (Default = 0x00C0)

[15:8]

Not used

7

Linear-g compensation for gyroscopes (1 = enabled)

6

Point of percussion alignment (1 = enabled)

[5:2]

Not used

1

Real-time clock, daylight savings time

(1: enabled, 0: disabled)

0

Real-time clock control

(1: relative/elapsed timer mode, 0: calendar mode)

ACCELEROMETERS

The user-calibration for the accelerometers includes registers

for adjusting bias and sensitivity, as shown in Figure 23.

X-AXIS

ACCL

FACTORY

CALIBRATION

AND

FILTERING

X_ACCL_OUT

X_ACCL_LOW

XA_BIAS_HIGH

XA_BIAS_LOW

1 + X_ACCL_SCALE

Figure 23. User Calibration Signal Path, Gyroscopes

Manual Bias Correction

The xA_BIAS_HIGH (see Table 75, Table 76, and Table 77) and

xA_BIAS_LOW (see Table 78, Table 79, and Table 80) registers

provide a bias adjustment function for the output of each gyroscope

sensor. The xA_BIAS_HIGH registers use the same format as

x_ACCL_OUT registers. The xA_BIAS_LOW registers use the

same format as x_ACCL_LOW registers.

Table 75. XA_BIAS_HIGH (Page 2, Base Address = 0x1E)

Bits

Description (Default = 0x0000)

[15:0]

X-axis accelerometer offset correction, high word,

Twos complement, 0 g = 0x0000, 1 LSB = 0.8 mg

Table 76. YA_BIAS_HIGH (Page 2, Base Address = 0x22)

Bits

Description (Default = 0x0000)

[15:0]

Y-axis accelerometer offset correction, high word,

Twos complement, 0 g = 0x0000, 1 LSB = 0.8 mg

Table 77. ZA_BIAS_HIGH (Page 2, Base Address = 0x26)

Bits

Description (Default = 0x0000)

[15:0]

Z-axis accelerometer offset correction, high word,

Twos complement, 0 g = 0x0000, 1 LSB = 0.8 mg

Table 78. XA_BIAS_LOW (Page 2, Base Address = 0x1C)

Bits

Description (Default = 0x0000)

[15:0]

X-axis accelerometer offset correction, low word,

Twos complement, 0 g = 0x0000,

1 LSB = 0.8 mg ÷ 216 = ~0.0000122 mg

Table 79. YA_BIAS_LOW (Page 2, Base Address = 0x20)

Bits

Description (Default = 0x0000)

[15:0]

Y-axis accelerometer offset correction, low word,

Twos complement, 0 g = 0x0000,

1 LSB = 0.8 mg ÷ 216 = ~0.0000122 mg

Table 80. ZA_BIAS_LOW (Page 2, Base Address = 0x24)

Bits

Description (Default = 0x0000)

[15:0]

Z-axis accelerometer offset correction, low word;,

Twos complement, 0 g = 0x0000,

1 LSB = 0.8 mg ÷ 216 = ~0.0000122 mg

Manual Sensitivity Correction

The x_ACCL_SCALE registers enable sensitivity adjustment

(see Table 81, Table 82, Table 83).

Table 81. X_ACCL_SCALE (Page 2, Base Address = 0x0A)

Bits

Description (Default = 0x0000)

[15:0]

X-axis accelerometer scale correction,

Twos complement, 0x0000 = unity gain,

1 LSB = 1 ÷ 215 = ~0.0003052%

Table 82. Y_ACCL_SCALE (Page 2, Base Address = 0x0C)

Bits

Description (Default = 0x0000)

[15:0]

Y-axis accelerometer scale correction,

Twos complement, 0x0000 = unity gain,

1 LSB = 1 ÷ 215 = ~0.0003052%

Table 83. Z_ACCL_SCALE (Page 2, Base Address = 0x0E)

Bits

Description (Default = 0x0000)

[15:0]

Z-axis accelerometer scale correction,

Twos complement, 0x0000 = unity gain,

1 LSB = 1 ÷ 215 = ~0.0003052%

MAGNETOMETERS

The user calibration registers enable both hard-iron and soft-

iron correction, as shown in the following relationship:













+













×













=













+

H

M

S

M

Z

Y

X

Z

Y

X

ZC

YC

XC

1

33

32

31

23

22

21

13

12

11

The MX, MY, and MZ variables represent the magnetometer

data, prior to application of the user correction formula. The

MXC, MYC, and MZC represent the magnetometer data, after the

application of the user correction formula.

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