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ADIS16485 Datasheet(PDF) 17 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
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ADIS16485 Datasheet(HTML) 17 Page - Analog Devices

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Data Sheet
ADIS16485
ACCELERATION
The registers that use the x_ACCL_OUT format are the primary
registers for the accelerometer measurements (see Table 18,
Table 19, and Table 20). When processing data from these
registers, use a 16-bit, twos complement data format. Table 21
provides x_ACCL_OUT digital coding examples.
Table 18. X_ACCL_OUT (Page 0, Base Address = 0x1E)
Bits
Description
[15:0]
X-axis accelerometer data; twos complement,
±5 g range, 0 g = 0x0000, 1 LSB = 0.25 mg
Table 19. Y_ACCL_OUT (Page 0, Base Address = 0x22)
Bits
Description
[15:0]
Y-axis accelerometer data; twos complement,
±5 g range, 0 g = 0x0000, 1 LSB = 0.25 mg
Table 20. Z_ACCL_OUT (Page 0, Base Address = 0x26)
Bits
Description
[15:0]
Z-axis accelerometer data; twos complement,
±5 g range, 0 g = 0x0000, 1 LSB = 0.25 mg
Table 21. x_ACCL_OUT Data Format Examples
Acceleration
Decimal
Hex
Binary
+5 g
+20,000
0x4E20
0100 1110 0010 0000
+0.5 mg
+2
0x0002
0000 0000 0000 0010
+0.25 mg
+1
0x0001
0000 0000 0000 0001
0 mg
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
−20,000
0xB1E0
1011 0001 1110 0000
The registers that use the x_ACCL_LOW naming format
provide additional resolution for the accelerometer
measurements (see Table 22, Table 23, and Table 24). The
MSB has a weight of 0.125 mg, and each subsequent bit has ½
the weight of the previous one.
Table 22. X_ACCL_LOW (Page 0, 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 resolution bits
Table 24. Z_ACCL_LOW (Page 0, Base Address = 0x24)
Bits
Description
[15:0]
Z-axis accelerometer data; additional resolution bits
DELTA ANGLES
The x_DELTANG_OUT registers are the primary output
registers for the delta angle calculations. When processing data
from these registers, use a 16-bit, twos complement data format
(see Table 25, Table 26, and Table 27). Table 28 shows
x_DELTANG_OUT digital coding examples.
The delta angle outputs represent an integration of the gyro-
scope measurements and use the following formula for 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.
fS is 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 sample clock, fS is equal to 2460 SPS.
When using the external clock option, fS is equal to the frequency
of the external clock, which is limited to a minimum of 2 kHz,
to prevent overflow in the x_DELTANG_xxx registers at high
rotation rates. See Table 49 and Figure 20 for more information
on the DEC_RATE register (decimation filter).
The x_DELTANG_LOW registers (see Table 29, Table 30, and
Table 31) provide additional resolution bits for the delta angle and
combine with the x_DELTANG_OUT registers to provide a 32-bit,
twos complement number. The MSB in the x_DELTANG_LOW
registers have a weight of ~0.011° (720°/216), and each 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 (Page 0, 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 Format Examples
Angle (°)
Decimal
Hex
Binary
+720 × (215 − 1)/215
+32,767
0x7FFF
0111 1111 1111 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
Rev. E | Page 17 of 32


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