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ADIS16488A Datasheet(PDF) 15 Page - Analog Devices |
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ADIS16488A Datasheet(HTML) 15 Page - Analog Devices |
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15 / 35 page  Product Overview Online Documentation Design Resources Discussion Sample & Buy Data Sheet ADIS16488A Rev. C | Page 15 of 35 OUTPUT DATA REGISTERS After theADIS16488Acompletesits start-up process, the PAGE_ID registercontains 0x0000, which sets Page 0 as the active page for SPIaccess. Page 0 contains the output data, real- time clock, status, and product identification registers. INERTIAL SENSOR DATA FORMAT The gyroscope, accelerometer, deltaangle, deltavelocity, and barometeroutput dataregistersuse a 32-bit, twos complement format. Each output uses tworegisters tosupportthis resolution. Figure 18 provides an example of howeach register contributes to each inertial measurement. In this case, X_GYRO_OUT is the most significant word(upper 16 bits),andX_GYRO_LOW is the least significant word (lower 16 bits). In many cases, using the most significant wordregistersaloneprovidessufficientresolution for preserving key performancemetrics. X-AXIS GYROSCOPE DATA 0 15 15 0 X_GYRO_OUT X_GYRO_LOW Figure 18. Gyroscope Output Format Example, DEC_RATE > 0 The arrows in Figure 19 represent the direction of the motion, which produces a positive output response in the output register of each sensor. Theaccelerometersrespondto both dynamicand staticforces associated with acceleration, including gravity.When lying perfectlyflat, asshown in Figure 19,thez-axis accelerometer output is 1 g, and thex and y accelerometers are0 g. ROTATIONRATE (GYROSCOPE) The registers that usethe x_GYRO_OUT formataretheprimary registersforthegyroscopemeasurements(seeTable11, Table12, and Table 13). Whenprocessing datafromtheseregisters, use a 16-bit, twos complement data format. Table 14 provides x_GYRO_OUTdigital coding examples. Table 11. X_GYRO_OUT (Page 0, Base Address = 0x12) Bits Description [15:0] X-axis gyroscope data; twos complement, ±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec Table 12. Y_GYRO_OUT (Page0, Base Address = 0x16) Bits Description [15:0] Y-axis gyroscope data; twos complement, ±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec Table 13. Z_GYRO_OUT (Page 0, Base Address = 0x1A) Bits Description [15:0] Z-axis gyroscope data; twos complement, ±450°/sec range, 0°/sec = 0x0000, 1 LSB = 0.02°/sec Table 14. x_GYRO_OUT Data FormatExamples Rotation Rate Decimal Hex Binary +450°/sec +22,500 0x57E4 0101 0111 1110 0100 +0.04/sec +2 0x0002 0000 0000 0000 0010 +0.02°/sec +1 0x0001 0000 0000 0000 0001 0°/sec 0 0x0000 0000 0000 0000 0000 −0.02°/sec −1 0xFFFF 1111 1111 1111 1111 −0.04°/sec −2 0xFFFE 1111 1111 1111 1110 −450°/sec −22,500 0xA81C 1010 1000 0001 1100 The registers that usethe x_GYRO_LOWnaming format provide additional resolution for the gyroscope measurements (see Table 15, Table 16, and Table 17). The MSB has a weight of 0.01°/sec, and each subsequent bit has ½ the weight of the previous one. Table 15. X_GYRO_LOW(Page 0, Base Address = 0x10) Bits Description [15:0] X-axis gyroscope data; additional resolution bits Table 16. Y_GYRO_LOW (Page0, Base Address = 0x14) Bits Description [15:0] Y-axis gyroscope data; additional resolution bits Table 17. Z_GYRO_LOW(Page 0, Base Address = 0x18) Bits Description [15:0] Z-axis gyroscope data; additionalresolution bits PIN 1 PIN 23 aY mY gY Y-AXIS gX X-AXIS aX mX Z-AXIS aZ mZ gZ Figure 19. Inertial Sensor Direction Reference Diagram |
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