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ADIS16385 Datasheet(PDF) 10 Page - Analog Devices

Part # ADIS16385
Description  Six Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
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ADIS16385
Preliminary Technical Data
Rev. PrA | Page 10 of 20
OUTPUT DATA REGISTERS
The output registers in Table 8 provide the most recent sensor
data produced by the ADIS16385. All of the inertial sensor
outputs use a 16-bit, twos complement, data format. Figure 6
provides arrows that describe the direction of motion, which
produces a positive output in each inertial sensor’s output data
register.
Table 8. Output Data Register Formats
Register
Address
Measurement
Format
XGYRO_OUT1
0x04
Gyroscope, x-axis
Table 9
YGYRO_OUT1
0x06
Gyroscope, y-axis
Table 9
ZGYRO_OUT1
0x08
Gyroscope, z-axis
Table 9
XACCL_OUT
0x0A
Accelerometer, x-axis
Table 10
YACCL_OUT
0x0C
Accelerometer, y-axis
Table 10
ZACCL_OUT
0x0E
Accelerometer, z-axis
Table 10
TEMP_OUT2
0x10
Internal Temperature
Table 11
AUX_ADC
0x12
Auxiliary ADC
Table 12
1 Assumes that the scaling is set to ±300°/sec. This factor scales with the range.
2 This is most useful for monitoring relative changes in the temperature.
Table 9. Rotation Rate, Twos Complement Format
Rotation Rate
Decimal
Hex
Binary
+300°/sec
+24000
0x5DC0
0101 1101 1100 0000
+0.025°/sec
+2
0x0002
0000 0000 0000 0010
+0.0125°/sec
+1
0x0001
0000 0000 0000 0001
0°/sec
0
0x0000
0000 0000 0000 0000
−0.0125°/sec
−1
0xFFFF
1111 1111 1111 1111
−0.025°/sec
−2
0xFFFE
1111 1111 1111 1110
−300°/sec
−24000
0xA240
1010 0010 0100 0000
Table 10. Acceleration, Twos Complement Format
Acceleration
Decimal
Hex
Binary
+5 g
+20000
0x4E20
0100 1110 0010 0000
+0.5 mg
+2
0x0002
0000 0000 0000 0010
+0.25 mg
+1
0x0001
0000 0000 0000 0001
0 g
0
0x0000
0000 0000 0000 0000
−0.25 mg
−1
0xFFFF
1111 1111 1111 1111
−0.5 mg
−2
0xFFFE
1111 1111 1111 1110
−5 g
− 20000
0xB1E0
1011 0001 1110 0000
Table 11. Temperature, Twos Complement Format
Temperature
Decimal
Hex
Binary
+105°C
+1180
0x49C
XXXX 0100 1001 1100
+25.1356°C
+2
0x002
XXXX 0000 0000 0010
+25.0678°C
+1
0x001
XXXX 0000 0000 0001
+25°C
0
0x000
XXXX 0000 0000 0000
+24.9322°C
−1
0xFFF
XXXX 1111 1111 1111
+24. 8644°C
−2
0xFFE
XXXX 1111 1111 1110
−40°C
−959
0xC41
XXXX 1100 0100 0001
Table 12. Analog Input, Offset Binary Format
Input Voltage
Decimal
Hex
Binary
3.3 V
4095
0xFFF
XXXX 1111 1111 1111
1 V
1241
0x4D9
XXXX 0100 1101 1001
1.6116 mV
2
0x002
XXXX 0000 0000 0010
805.9 μV
1
0x001
XXXX 0000 0000 0001
0 V
0
0x000
XXXX 0000 0000 0000
DEVICE CONFIGURATION
The control registers in Table 13 provide users with a variety of
configuration options. The SPI provides access to these registers,
one byte at a time, using the bit assignments in Figure 14. Each
register has 16-bits, where bits [7:0] represent the lower address
and Bits[15:8] represent the upper address. Figure 15 provides an
example of writing 0x03 to Address 0x36 (SMPL_PRD[15:8]),
using DIN = 0xB703. This example reduces the sample rate by a
factor of eight (see Table 28).
Figure 15. Example SPI Write Sequence
Dual Memory Structure
Writing configuration data to a control register updates its SRAM
contents, which are volatile. After optimizing each relevant control
register setting in a system, set GLOB[12] = 1 (DIN = 0xBF10) to
back these settings up in nonvolatile flash memory. The flash back-
up process requires a valid power supply level for the entire 75 ms
process time. Table 13 provides a user register memory map that
includes a flash back-up column. A yes in this column indicates
that a register has a mirror location in flash, and when backed up
properly, it automatically restores itself during start-up or after a
reset. Figure 16 provides a diagram of the dual-memory structure
used to manage operation and store critical user settings.
NONVOLATILE
FLASH MEMORY
(NO SPI ACCESS)
MANUAL
FLASH
BACKUP
START-UP
RESET
VOLATILE
SRAM
SPI ACCESS
Figure 16. SRAM and Flash Memory Diagram


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