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ADIS16480AMLZ Datasheet(PDF) 16 Page - Analog Devices

Part No. ADIS16480AMLZ
Description  Ten Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16480AMLZ Datasheet(HTML) 16 Page - Analog Devices

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ADIS16480
Data Sheet
Rev. 0 | Page 16 of 40
OUTPUT DATA REGISTERS
After the ADIS16480 completes its start-up process, the PAGE_ID
register contains 0x0000, which sets Page 0 as the active page
for SPI access. Page 0 contains the output data, real-time clock,
status, and product identification registers.
INERTIAL SENSOR DATA FORMAT
The gyroscope, accelerometer, delta angle, delta velocity, and
barometer output data registers use a 32-bit, twos complement
format. Each output uses two registers to support this resolution.
Figure 18 provides an example of how each register contributes
to each inertial measurement. In this case, X_GYRO_OUT is
the most significant word (upper 16 bits), and X_GYRO_LOW
is the least significant word (lower 16 bits), which captures the
bit growth associated with the final averaging/decimation
register. When using the maximum sample rate (DEC_RATE =
0x0000, the x_xxxx_LOW registers are not active.
X-AXIS GYROSCOPE DATA
015
15
0
X_GYRO_OUT
X_GYRO_LOW
Figure 18. Gyroscope Output Format Example, DEC_RATE > 0
The arrows in Figure 19 describe the direction of the motion,
which produces a positive output response in each sensor’s
output register. The accelerometers respond to both dynamic
and static forces associated with acceleration, including gravity.
When lying perfectly flat, as shown in Figure 19, the z-axis
accelerometer output is 1 g, and the x and y accelerometers are
0 g. EKF_CNFG[3] (see Table 94) provides a selection for
gyroscope, accelerometer, and magnetometer data orientation,
between the body frame and the local navigation frame.
When EKF_CNFG[3] = 0 (default), the accelerometer and
magnetometer data displays in the local navigation frame.
ROTATION RATE (GYROSCOPE)
The registers that use the x_GYRO_OUT format are the primary
registers for the gyroscope measurements (see Table 10, Table 11,
and Table 12). When processing data from these registers, use
a 16-bit, twos complement data format. Table 13 provides
x_GYRO_OUT digital coding examples.
Table 10. 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 11. Y_GYRO_OUT (Page 0, 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 12. 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 13. x_GYRO_OUT Data Format Examples
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 MSB in x_GYRO_LOW has a weight of 0.01°/sec, and each
subsequent bit has ½ the weight of the previous one.
Table 14. X_GYRO_LOW (Page 0, Base Address = 0x10)
Bits
Description
[15:0]
X-axis gyroscope data; additional resolution bits
Table 15. Y_GYRO_LOW (Page 0, Base Address = 0x14)
Bits
Description
[15:0]
Y-axis gyroscope data; additional resolution bits
Table 16. Z_GYRO_LOW (Page 0, Base Address = 0x18)
Bits
Description
[15:0]
Z-axis gyroscope data; additional resolution 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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