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ADIS16IMU1/PCBZ Datasheet(PDF) 30 Page - Analog Devices

Part # ADIS16IMU1/PCBZ
Description  Six Degrees of Freedom Inertial Sensor
PDF  38 Pages
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Manufacturer  AD [Analog Devices]
Direct Link  http://www.analog.com
Logo AD - Analog Devices

ADIS16IMU1/PCBZ Datasheet(HTML) 30 Page - Analog Devices

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ADIS16486
Data Sheet
Rev. 0 | Page 30 of 38
Table 154. FILTR_BNK_0 Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x03
0x16, 0x17
0x0000
R/W
Yes
Table 155. FILTR_BNK_0 Bit Definitions
Bits
Description (Default = 0x0000)
15
Don’t care
14
Y-axis accelerometer filter enable (1 = enabled)
[13:12]
Y-axis accelerometer filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
11
X-axis accelerometer filter enable (1 = enabled)
[10:9]
X-axis accelerometer filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
8
Z-axis gyroscope filter enable (1 = enabled)
[7:6]
Z-axis gyroscope filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
5
Y-axis gyroscope filter enable (1 = enabled)
[4:3]
Y-axis gyroscope filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
2
X-axis gyroscope filter enable (1 = enabled)
[1:0]
X-axis gyroscope filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
Table 156. FILTR_BNK_1 Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x03
0x18, 0x19
0x0000
R/W
Yes
Table 157. FILTR_BNK_1 Bit Definitions
Bits
Description (Default = 0x0000)
[15:3]
Don’t care
2
Z-axis accelerometer filter enable (1 = enabled)
[1:0]
Z-axis accelerometer filter bank selection:
00 = Bank A, 01 = Bank B, 10 = Bank C, 11 = Bank D
Alarm Configuration, ALM_CNFG_0, ALM_CNFG_1
The ALM_CNFG_0 (see Table 158 and Table 159) and ALM_
CNFG_1 (see Table 160 and Table 161) registers provide three
configuration control options for the alarm functions of each
inertial sensor: on and off, polarity, and mode of operation
(static and dynamic).
Table 158. ALM_CNFG_0 Register Definition
Page ID
Addresses
Default
Access
Flash Backup
0x03
0x20, 0x21
0x0000
R/W
Yes
Solving for ΔX_ACCL_OUT, ΔZ_GYRO_OUT,
ΔY_GYRO_OUT, and ΔX_GYRO_OUT
Use Equation 2 to Equation 5 to solve for ΔX_ACCL_OUT,
ΔZ_GYRO_OUT, ΔY_GYRO_OUT, and ΔX_GYRO_OUT in
Bits[13:12], Bits[9:8], Bits[5:4], and Bits[1:0] in Table 159.
( )
(
)
77
00
1
104
8
AA
nn
ΔX_ACCL_OUT
X n
X n
=
=

=
−−



∑
∑
(2)
where XA = X_ACCL_OUT.
( )
(
)

−
−
=
∑
∑
=
=
7
0
7
0
104
8
1
n
G
n
G
n
Z
n
Z
T
ΔZ_GYRO_OU
(3)
where ZG = Z_GYRO_OUT.
( )
(
)

−
−
=
∑
∑
=
=
7
0
7
0
104
8
1
n
G
n
G
n
Y
n
Y
T
ΔY_GYRO_OU
(4)
where YG = Y_GYRO_OUT.
( )
(
)

−
−
=
∑
∑
=
=
7
0
7
0
104
8
1
n
G
n
G
n
X
n
X
T
ΔX_GYRO_OU
(5)
where XG = X_GYRO_OUT.
Solving for ΔZ_ACCL_OUT and ΔY_ACCL_OUT
Use Equation 6 and Equation 7 to solve for ΔZ_ACCL_OUT
and ΔY_ACCL_OUT in Bits[5:4] and Bits[1:0] in Table 161.
( )
(
)
77
00
1
104
8
AA
nn
ΔZ_ACCL_OUT
Z n
Z n
=
=

=
−−



∑∑
(6)
where ZA = Z_ACCL_OUT.
( )
(
)
77
00
1
104
8
AA
nn
ΔY_ACCL_OUT
Y n
Y n
=
=

=
−−



∑
∑
(7)
where YA = Y_ACCL_OUT.
Table 159. ALM_CNFG_0 Bit Definitions
Bits
Description (Default = 0x0000)
15
X-axis accelerometer. 0: alarm is off, and 1: alarm is on.
14
Not used.
[13:12]
X-axis accelerometer polarity and mode settings.
Select one of the four options for the condition that
triggers the alarm (ALM_STS, Bit 3 = 1, see Table 24).
00: X_ACCL_OUT < XA_ALM_MAGN.
01: ΔX_ACCL_OUT < XA_ALM_MAGN (see Equation 2).
10: X_ACCL_OUT > XA_ALM_MAGN.
11: ΔX_ACCL_OUT > XA_ALM_MAGN (see Equation 2).
11
Z-axis gyroscope. 0: alarm is off, and 1: alarm is on.
10
Not used.
[9:8]
Z-axis gyroscope polarity and mode settings. Select
one of the four options for the condition that triggers
the alarm (ALM_STS, Bit 2 = 1, see Table 24).
00: Z_GYRO_OUT < ZG_ALM_MAGN.
01: ΔZ_GYRO_OUT < ZG_ALM_MAGN (see Equation 3).
10: Z_GYRO_OUT > ZG_ALM_MAGN.
11: ΔZ_GYRO_OUT > ZG_ALM_MAGN (see Equation 3).
7
Y-axis gyroscope. 0: alarm is off, and 1: alarm is on.
6
Not used.
[5:4]
Y-axis gyroscope polarity and mode settings. Select
one of the four options for the condition that triggers
the alarm (ALM_STS, Bit 1 = 1, see Table 24).
00: Y_GYRO_OUT < YG_ALM_MAGN.
01: ΔY_GYRO_OUT < YG_ALM_MAGN (see Equation 4).
10: Y_GYRO_OUT > YG_ALM_MAGN.
11: ΔY_GYRO_OUT > YG_ALM_MAGN (see Equation 4).



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