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ADIS16IMU1/PCBZ Datasheet(PDF) 19 Page - Analog Devices |
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ADIS16IMU1/PCBZ Datasheet(HTML) 19 Page - Analog Devices |
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19 / 38 page  Data Sheet ADIS16486 Rev. 0 | Page 19 of 38 The delta angle outputs represent an integration of the gyroscope measurements and use the following formula for all three axes (the x-axis is shown as follows): ( ) 1 , , ,1 0 1 2 D x nD x nD d x nD d d S f θ ωω − + +− = ∆= × + ∑ where: D is the decimation rate = DEC_RATE + 1 (see Table 149). 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. Ensure that the external clock frequency is at least 700 Hz to prevent overflow in the delta angle data registers at high rotation rates. Each axis of the delta angle measurements has two output data registers. Figure 21 shows how the X_DELTANG_LOW and X_DELTANG_OUT registers combine to support a 32-bit, twos complement data format for the x-axis delta angle measurements. This format also applies to the y- and x-axes. X-AXIS DELTA ANGLE DATA 0 15 15 0 X_DELTANG_OUT X_DELTANG_LOW Figure 21. Delta Angle Output Data Structure X-Axis Delta Angle (X_DELTANG_LOW, X_DELTANG_OUT) The X_DELTANG_LOW (see Table 56 and Table 57) and X_DELTANG_OUT (see Table 58 and Table 59) registers contain the delta angle data for the x-axis. Table 56. X_DELTANG_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x40, 0x41 Not applicable R No Table 57. X_DELTANG_LOW Bit Definition Bits Description (No Default) [15:0] X-axis delta angle data, low word Table 58. X_DELTANG_OUT Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x42, 0x43 Not applicable R No Table 59. X_DELTANG_OUT Bit Definition Bits Description (No Default) [15:0] X-axis delta angle data, twos complement, ±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022° Y-Axis Delta Angle (Y_DELTANG_LOW, Y_DELTANG_OUT) The Y_DELTANG_LOW (see Table 60 and Table 61) and Y_DELTANG_OUT (see Table 62 and Table 63) registers contain the delta angle data for the y-axis. Table 60. Y_DELTANG_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x44, 0x45 Not applicable R No Table 61. Y_DELTANG_LOW Bit Definition Bits Description (No Default) [15:0] Y-axis delta angle data, low word Table 62. Y_DELTANG_OUT Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x46, 0x47 Not applicable R No Table 63. Y_DELTANG_OUT Bit Definition Bits Description (No Default) [15:0] Y-axis delta angle data, twos complement, ±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022° Z-Axis Delta Angle (Z_DELTANG_LOW, Z_DELTANG_OUT) The Z_DELTANG_LOW (see Table 64 and Table 65) and Z_DELTANG_OUT (see Table 66 and Table 67) registers contain the delta angle data for the z-axis. Table 64. Z_DELTANG_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x48, 0x49 Not applicable R No Table 65. Z_DELTANG_LOW Bit Definition Bits Description (No Default) [15:0] Z-axis delta angle data, low word Table 66. Z_DELTANG_OUT Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x4A, 0x4B Not applicable R No Table 67. Z_DELTANG_OUT Bit Definition Bits Description (No Default) [15:0] Z-axis delta angle data, twos complement, ±720° range, 0° = 0x0000, 1 LSB = 720°/215 = ~0.022° Delta Angle Resolution Table 68 and Table 69 offer various numerical examples that demonstrate the format of the delta angle data in both 16-bit and 32-bit formats. Table 68. 16-Bit Delta Angle Data Format Examples Delta Angle (°) Decimal Hex Binary +720 × (215 − 1)/215 +32,767 0x7FFF 0111 1111 1110 1111 +720/214 +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 −720/214 −2 0xFFFE 1111 1111 1111 1110 −720 −32,768 0x8000 1000 0000 0000 0000 |
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