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ADIS16488A Datasheet(PDF) 15 Page - Analog Devices

Part No. ADIS16488A
Description  Tactical Grade, Ten Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16488A Datasheet(HTML) 15 Page - Analog Devices

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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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