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ADIS16485 Datasheet(PDF) 16 Page - Analog Devices

Part # ADIS16485
Description  Tactical Grade, Six Degrees of Freedom Inertial Sensor
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16485 Datasheet(HTML) 16 Page - Analog Devices

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ADIS16485
Data Sheet
Rev. E | Page 16 of 32
OUTPUT DATA REGISTERS
After the ADIS16485 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, and delta velocity 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). In many cases, using the most significant
word registers alone provide sufficient resolution for preserving
key performance metrics.
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.
ROTATION RATE (GYROSCOPE)
The registers that use the x_GYRO_OUT format are the primary
registers for the gyroscope measurements (see Table 11, Table 12,
and Table 13). When processing data from these registers, use
a 16-bit, twos complement data format. Table 14 provides
x_GYRO_OUT digital 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 (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 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 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 registers that use the x_GYRO_LOW naming 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 (Page 0, 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; additional resolution bits
PIN 1
PIN 23
aY
gY
Y-AXIS
gX
X-AXIS
aX
Z-AXIS
aZ
gZ
Figure 19. Inertial Sensor Direction Reference Diagram


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