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ADIS16489 Datasheet(PDF) 21 Page - Analog Devices

Part # ADIS16489
Description  Seven Degrees of Freedom Inertial Sensor
Download  40 Pages
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16489 Datasheet(HTML) 21 Page - Analog Devices

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Data Sheet
ADIS16489
Rev. B | Page 21 of 40
Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT)
Table 62. Y_DELTANG_LOW Register Definitions
Page
Addresses
Default
Access
Flash Backup
0x00
0x44, 0x45
Not applicable
R
No
Table 63. Y_DELTANG_LOW Bit Definitions
Bits
Description
[15:0]
Y-axis delta angle data; low word
Table 64. Y_DELTANG_OUT Register Definitions
Page
Addresses
Default
Access
Flash Backup
0x00
0x46, 0x47
Not applicable
R
No
Table 65. Y_DELTANG_OUT Bit Definitions
Bits
Description
[15:0]
Y-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
The Y_DELTANG_LOW (see Table 62 and Table 63) and
Y_DELTANG_OUT (see Table 64 and Table 65) registers
contain the delta angle data for the y-axis.
Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT)
Table 66. Z_DELTANG_LOW Register Definitions
Page
Addresses
Default
Access
Flash Backup
0x00
0x48, 0x49
Not applicable
R
No
Table 67. Z_DELTANG_LOW Bit Definitions
Bits
Description
[15:0]
Z-axis delta angle data; low word
Table 68. Z_DELTANG_OUT Register Definitions
Page
Addresses
Default
Access
Flash Backup
0x00
0x4A, 0x4B
Not applicable
R
No
Table 69. Z_DELTANG_OUT Bit Definitions
Bits
Description
[15:0]
Z-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
The Z_DELTANG_LOW (see Table 66 and Table 67) and
Z_DELTANG_OUT (see Table 68 and Table 69) registers
contain the delta angle data for the z-axis.
Delta Angle Resolution
Table 70 and Table 71 offers various numerical examples that
demonstrate the format of the delta-angle data in 16-bit and
32-bit formats.
Table 70. 16-Bit Delta Angle Data Format Examples
Delta Angle (°)
Decimal
Hex
Binary
+720 × (215 − 1)/215
+32,767
0x7FFF
0111 1111 1110 1111
+720/214
+2
0x0002
0000 0000 0000 0010
+720/215
+1
0x0001
0000 0000 0000 0001
0
0
0x0000
0000 0000 0000 0000
−720/215
−1
0xFFFF
1111 1111 1111 1111
−720/214
−2
0xFFFE
1111 1111 1111 1110
−720
−32,768
0x8000
1000 0000 0000 0000
Table 71. 32-Bit Delta Angle Data Format Examples
Delta Angle (°)
Decimal
Hex
+720 × (231 − 1)/231
+2,147,483,647
0x7FFFFFFF
+720/230
+2
0x00000002
+720/231
+1
0x00000001
0
0
0x00000000
−720/231
−1
0xFFFFFFFF
−720/230
−2
0xFFFFFFFE
−720
−2,147,483,648
0x80000000
DELTA VELOCITY
In addition to the linear acceleration measurements along each
axis (x, y, and z), the ADIS16489 also provides delta velocity
measurements that represent a computation of linear velocity
change between each sample update.
PIN 1
PIN 23
ΔVY
Y-AXIS
X-AXIS
ΔVX
Z-AXIS
ΔVZ
Figure 25. Delta Velocity Axis and Polarity Assignments
The delta velocity outputs represent an integration of the
acceleration measurements and use the following formula for
all
three axes (x-axis displayed):
(
)
,
,,
D
x nD
x nD d
x nD d
d
S
V
aa
f
+
+ −
=
=
×
+
1
1
0
1
2
where:
D is the decimation rate = DEC_RATE + 1 (see Table 159).
fS is the sample rate.
d is the incremental variable in the summation formula.
ax is the x-axis acceleration (accelerometer).
n is the sample time, prior to the decimation filter.
When using the internal sample clock, fS is equal to 2460 SPS.
When using the external clock option, fS is equal to the
frequency of the external clock. The frequency external of the
clock must be at least 700 Hz to prevent overflow in the delta
velocity data registers at high acceleration levels.
Each axis of the delta velocity measurements has two output
data registers. Figure 26 illustrates how these two registers
combine to support 32-bit, twos complement data format, for
the x-axis delta velocity measurements. This format also applies
to the y- and z-axes as well.
X-AXIS DELTA VELOCITY DATA
0 15
15
0
X_ DELTVEL_OUT
X_ DELTVEL_LOW
Figure 26. Delta Angle Output Data Structure


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