Datasheet ADIS16375 (Analog Devices) - 15

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ADIS16375 Data Sheet OUTPUT DATA REGISTERS
After the ADIS16375 completes its startup process, the PAGE_ID
X_GYRO_OUT X_GYRO_LOW
register contains 0x0000, which sets Page 0 as the active page
15 0 15 0
for SPI access. Page 0 contains the output data, real-time clock, 017
X-AXIS GYROSCOPE DATA
status and product identification registers. 09389- Figure 16. Gyroscope Output Format, DEC_RATE > 0
Table 10. Output Data Register Summary
The arrows in Figure 17 describe the direction of the motion,
Register Address Measurement
which produces a positive output response in each sensor’s SYS_E_FLAG 0x08 System flags output register. The accelerometers respond to both dynamic DIAG_STS 0x0A Self test flags and static forces associated with acceleration, including gravity. ALM_STS 0x0C Alarm flags When lying perfectly flat, as shown in Figure 17, the z-axis TEMP_OUT 0x0E Temperature accelerometer output is 1 g, and the x and y accelerometers is 0 g. X_GYRO_LOW 0x10 Gyroscope, X
Z-AXIS
X_GYRO_OUT 0x12 Gyroscope, X
aZ
Y_GYRO_LOW 0x14 Gyroscope, Y
gZ
Y_GYRO_OUT 0x16 Gyroscope, Y Z_GYRO_LOW 0x18 Gyroscope, Z
X-AXIS
Z_GYRO_OUT 0x1A Gyroscope, Z
Y-AXIS a
X_ACCL_LOW 0x1C Accelerometer, X
X g a X Y
X_ACCL_OUT 0x1E Accelerometer, X
gY
018 Y_ACCL_LOW 0x20 Accelerometer, Y
PIN 23 PIN 1
09389- Y_ACCL_OUT 0x22 Accelerometer, Y Figure 17. Inertial Sensor Direction Reference Diagram Z_ACCL_LOW 0x24 Accelerometer, Z
Rotation Rate (Gyroscope)
Z_ACCL_OUT 0x26 Accelerometer, Z X_DELTA_ANG_L 0x40 Delta angle, X The registers that use the x_GYRO_OUT format are the primary X_DELTA_ANG_H 0x42 Delta angle, X registers for the gyroscope measurements. When processing data Y_DELTA_ANG_L 0x44 Delta angle, Y from these registers, use a 16-bit, twos complement data format. Y_DELTA_ANG_H 0x46 Delta angle, Y Table 11, Table 12 and Table 13 provide each register’s numerical Z_DELTA_ANG_L 0x48 Delta angle, Z format, and Table 14 provides x_GYRO_OUT digital coding Z_DELTA_ANG_H 0x4A Delta angle, Z examples. X_DELTA_VEL_L 0x4C Delta velocity, X
Table 11. X_GYRO_OUT (Page 0, Base Address = 0x12)
X_DELTA_VEL_H 0x4E Delta velocity, X
Bits Description
Y_DELTA_VEL_L 0x50 Delta velocity, Y [15:0] X-axis gyroscope data; twos complement, ±300°/sec Y_DELTA_VEL_H 0x52 Delta velocity, Y range, 0.013108°/sec per LSB, 0°/sec = 0x0000 Z_DELTA_VEL_L 0x54 Delta velocity, Z Z_DELTA_VEL_H 0x56 Delta velocity, Z
Table 12. Y_GYRO_OUT (Page 0, Base Address = 0x16)
TIME_MS_OUT 0x70 Time, min, and sec
Bits Description
TIME_DH_OUT 0x72 Time, day, and hour [15:0] Y-axis gyroscope data; twos complement, ±300°/sec TIME_YM_OUT 0x74 Time, year, and month range, 0.013108°/sec per LSB, 0°/sec = 0x0000 LOT_ID1 0x78 Lot identifier LOT_ID2 0x7A Lot identifier
Table 13. Z_GYRO_OUT (Page 0, Base Address = 0x1A)
LOT_ID3 0x7C Lot identifier
Bits Description
PROD_ID 0x7E Product identifier [15:0] Z-axis gyroscope data; twos complement, ±300°/sec range, 0.013108°/sec per LSB, 0°/sec = 0x0000
Inertial Sensor Data Format Table 14. x_GYRO_OUT Data Format Examples
The gyroscope, accelerometer, delta angle, and delta velocity output data use a 32-bit, twos complement format. Each output
Rotation Rate Decimal Hex Binary
uses two registers to support this resolution. Figure 16 provides +300°/sec +22,887 0x5967 0101 1001 0110 0111 an example of how each register contributes to each inertial +0.026216/sec +2 0x0002 0000 0000 0000 0010 measurement. In this case, X_GYRO_OUT is the most significant +0.013108°/sec +1 0x0001 0000 0000 0000 0001 word (upper 16 bits), and X_GYRO_LOW is the least significant 0°/sec 0 0x0000 0000 0000 0000 0000 word (lower 16 bits). In many cases, using the x_GYRO_OUT −0.013108°/sec −1 0xFFFF 1111 1111 1111 1111 registers alone provides sufficient resolution for preserving key −0.026216°/sec −2 0xFFFE 1111 1111 1111 1110 performance metrics. −300°/sec −22,887 0xA699 1010 0110 1001 1001 Rev. D | Page 14 of 28 Document Outline Features Applications Functional Block Diagram General Description Revision History Specifications Timing Specifications Timing Diagrams Absolute Maximum Ratings ESD Caution Pin Configuration and Function Descriptions Typical Performance Characteristics Basic Operation Register Structure SPI Communication Device Configuration Dual Memory Structure Reading Sensor Data User Registers Output Data Registers Inertial Sensor Data Format Rotation Rate (Gyroscope) Acceleration Delta Angles Velocity Changes Internal Temperature Status/Alarm Indicators Product Identification Digital Signal Processing Sampling Plan Averaging/Decimation Filter FIR Filter Banks Filter Memory Organization Default Filter Performance Calibration Manual Bias Correction Manual Sensitivity Correction Bias Null Command Restoring Factory Calibration Linear Acceleration on Effect on Gyroscope Bias Point of Percussion Alignment Alarms Static Alarm Use Dynamic Alarm Use Alarm Reporting Alarm Example System Controls Global Commands Software Reset Automatic Self Test Memory Management Flash Memory Test General-Purpose I/O Data-Ready Indicator Input Sync/Clock Control General-Purpose I/O Control Power Management Real-Time Clock Configuration/Data Applications Information Mounting Tips Evaluation Tools Breakout Board, ADIS16IMU/PCBZ PC-Based Evaluation, EVAL-ADIS2 Power Supply Considerations Outline Dimensions Ordering Guide