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ADIS16488A Datasheet(PDF) 16 Page - Analog Devices

Part # ADIS16488A
Description  Tactical Grade, Ten Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
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ADIS16488A Datasheet(HTML) 16 Page - Analog Devices

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ADIS16488A
Data Sheet
Rev. C | Page 16 of 35
ACCELERATION
The registers that usethe x_ACCL_OUT format aretheprimary
registers for the accelerometermeasurements (seeTable18,
Table 19, and Table 20). When processing datafromthese
registers, use a 16-bit, twos complement dataformat. Table21
provides x_ACCL_OUTdigital coding examples.
Table 18. X_ACCL_OUT (Page 0, Base Address = 0x1E)
Bits
Description
[15:0]
X-axis accelerometer data; twos complement,
±18 g range, 0 g = 0x0000, 1 LSB = 0.8 mg
Table 19. Y_ACCL_OUT (Page 0, Base Address = 0x22)
Bits
Description
[15:0]
Y-axis accelerometer data; twos complement,
±18 g range, 0 g = 0x0000, 1 LSB = 0.8 mg
Table 20. Z_ACCL_OUT (Page0, Base Address = 0x26)
Bits
Description
[15:0]
Z-axis accelerometer data; twos complement,
±18 g range, 0 g = 0x0000, 1 LSB = 0.8 mg
Table 21. x_ACCL_OUT Data FormatExamples
Acceleration
Decimal
Hex
Binary
+18 g
+22,500
0x57E4
0101 0111 1110 0100
+1.6 mg
+2
0x0002
0000 0000 0000 0010
+0.8 mg
+1
0x0001
0000 0000 0000 0001
0 mg
0
0x0000
0000 0000 0000 0000
−0.8 mg
−1
0xFFFF
1111 1111 1111 1111
−1.6 mg
−2
0xFFFE
1111 1111 1111 1110
−18 g
−22,500
0xA81C
1010 1000 0001 1100
The registers that usethe x_ACCL_LOWnamingformat provide
additional resolution for the accelerometer measurements (see
Table 22, Table23, and Table24). The MSBhas a weightof 0.4mg,
and each subsequent bit has ½ the weight of the previous one.
Table 22. X_ACCL_LOW (Page0, Base Address = 0x1C)
Bits
Description
[15:0]
X-axis accelerometer data; additional resolution bits
Table 23. Y_ACCL_LOW(Page 0, Base Address = 0x20)
Bits
Description
[15:0]
Y-axis accelerometer data; additional resolutionbits
Table 24. Z_ACCL_LOW(Page0, Base Address = 0x24)
Bits
Description
[15:0]
Z-axis accelerometer data; additional resolution bits
DELTA ANGLES
The x_DELTANG_OUTregistersaretheprimaryoutput registers
for the delta anglecalculations. Whenprocessing datafromthese
registers, usea 16-bit, twoscomplement dataformat(seeTable25,
Table 26, and Table 27). Table 28 provides x_DELTANG_OUT
digital coding examples.
The delta angle outputsrepresent an integration of the gyro-
scope measurementsanduse thefollowingformulafor all three
axes (x-axis displayed):
(
)
=
+
+ +
×
=
1
0
1
,
,
,
2
1
D
d
d
D
n
x
d
D
n
x
S
D
n
x
f
ω
ω
θ
where:
D is the decimation rate = DEC_RATE+ 1.
fsis the sample rate.
d is the incremental variable in the summation formula.
ωx is the x-axis rate of rotation (gyroscope).
n is the sample time, prior to the decimation filter.
When using the internal sampleclock, fS is equal to 2460 SPS.
When using theexternal clockoption, fS is equal to thefrequency
of the external clock, which is limited to a minimum of 2 kHz,
to prevent overflowin the x_DELTANG_xxx registers at high
rotation rates. See Table56 and Figure 20 for moreinformation
on the DEC_RATEregister(decimationfilter).
The x_DELTANG_LOWregisters(seeTable29, Table30, and
Table 31)provide additional resolutionbits forthedeltaangleand
combinewiththex_DELTANG_OUT registersto providea 32-bit,
twos complement number. The MSBin the x_DELTANG_LOW
registershavea weightof~0.011°(720°/216), andeach subsequent
bit carries a weight of ½ of the previous one.
Table 25. X_DELTANG_OUT (Page 0, Base Address = 0x42)
Bits
Description
[15:0]
X-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
Table 26. Y_DELTANG_OUT (Page0, Base Address = 0x46)
Bits
Description
[15:0]
Y-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
Table 27. Z_DELTANG_OUT (Page 0, Base Address = 0x4A)
Bits
Description
[15:0]
Z-axis delta angle data; twos complement,
±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022°
Table 28. x_DELTANG_OUT Data FormatExamples
Angle (°)
Decimal
Hex
Binary
+720 × (215 − 1)/215
+32,767
0x7FFF
0111 1111 1110 1111
+1440/215
+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
−1440/215
−2
0xFFFE
1111 1111 1111 1110
−720
−32,768
0x8000
1000 0000 0000 0000
Table 29. X_DELTANG_LOW(Page 0, Base Address = 0x40)
Bits
Description
[15:0]
X-axis delta angle data; additional resolution bits


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