ADIS16488 datasheet(25/36 Pages) AD

Part #	ADIS16488

Description	Ten Degrees of Freedom Inertial Sensor

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Data Sheet

ADIS16488

Rev. B | Page 25 of 36

Hard-Iron Correction

Table 84, Table 85, and Table 86 describe the register format

for the hard-iron correction factors: HX, HY, and HZ. These

registers use a twos complement format. Table 87 provides

some numerical examples for converting the digital codes

for these registers into their decimal equivalent.

Table 84. HARD_IRON_X (Page 2, Base Address = 0x28)

Bits

Description (Default = 0x0000)

[15:0]

X-axis magnetometer hard-iron correction factor, HX

Twos complement, ±3.2767 gauss range,

0.1 mgauss/LSB, 0 gauss = 0x0000 (see Table 87)

Table 85. HARD_IRON_Y (Page 2, Base Address = 0x2A)

Bits

Description (Default = 0x0000)

[15:0]

Y-axis magnetometer hard-iron correction factor, HY

Twos complement, ±3.2767 gauss range,

0.1 mgauss/LSB, 0 gauss = 0x0000 (see Table 87)

Table 86. HARD_IRON_Z (Page 2, Base Address = 0x2C)

Bits

Description (Default = 0x0000)

[15:0]

Z-axis magnetometer hard-iron correction factor, Hz

Twos complement, ±3.2767 gauss range,

0.1 mgauss/LSB, 0 gauss = 0x0000 (see Table 87)

Table 87. x_MAGN_OUT Data Format Examples

Magnetic Field

Decimal

Hex

Binary

+3.2767 gauss

+32,767

0x7FFF

0111 1111 1111 1111

+0.2 mgauss

+2

0x0002

0000 0000 0000 0010

+0.1 mgauss

+1

0x0001

0000 0000 0000 0001

0 gauss

0

0x0000

0000 0000 0000 0000

−0.1 mgauss

−1

0xFFFF

1111 1111 1111 1111

−0.2 mgauss

−2

0xFFFE

1111 1111 1111 1110

−3.2768 gauss

−32,768

0x8000

1000 0000 0000 0000

Soft-Iron Correction Matrix

The soft-iron correction matrix contains correction factors for

both sensitivity (S11, S22, S33) and alignment (S12, S13, S21, S23, S31,

S32). The registers that represent each soft-iron correction factor

are in Table 88 (S11), Table 89 (S12), Table 90 (S13), Table 91 (S21),

Table 92 (S22), Table 93 (S23), Table 94 (S31), Table 95 (S32), and

Table 96 (S33). Table 97 offers some numerical examples for

converting between the digital codes and their effect on the

magnetometer output, in terms of percent-change.

Table 88. SOFT_IRON_S11 (Page 2, Base Address = 0x2E)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S11

Twos complement format, see Table 97 for examples

Table 89. SOFT_IRON_S12 (Page 2, Base Address = 0x30)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S12

Twos complement format, see Table 97 for examples

Table 90. SOFT_IRON_S13 (Page 2, Base Address = 0x32)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S13

Twos complement format, see Table 97 for examples

Table 91. SOFT_IRON_S21 (Page 2, Base Address = 0x34)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S21

Twos complement format, see Table 97 for examples

Table 92. SOFT_IRON_S22 (Page 2, Base Address = 0x36)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S22

Twos complement format, see Table 97 for examples

Table 93. SOFT_IRON_S23 (Page 2, Base Address = 0x38)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S23

Twos complement format, see Table 97 for examples

Table 94. SOFT_IRON_S31 (Page 2, Base Address = 0x3A)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S31

Twos complement format, see Table 97 for examples

Table 95. SOFT_IRON_S32 (Page 2, Base Address = 0x3C)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S32

Twos complement format, see Table 97 for examples

Table 96. SOFT_IRON_S33 (Page 2, Base Address = 0x3E)

Bits

Description (Default = 0x0000)

[15:0]

Magnetometer soft-iron correction factor, S33

Twos complement format, see Table 97 for examples

Table 97. Soft Iron Correction, Numerical Examples

Delta (%)

Decimal

Hex

Binary

+100 – 1/216

+32,767

0x7FFF

0111 1111 1111 1111

+200/215

+2

0x0002

0000 0000 0000 0010

+100/215

+1

0x0001

0000 0000 0000 0001

0

0x0000

0000 0000 0000 0000

−100/215

−1

0xFFFF

1111 1111 1111 1111

−200/215

−2

0xFFFE

1111 1111 1111 1110

−100

−32,768

0x8000

1000 0000 0000 0000

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