ADIS16IMU4PCBZ datasheet(21/34 Pages) AD

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Data Sheet

ADIS16467

Rev. C | Page 21 of 34

Table 42. TEMP_OUT Data Format Examples

Temperature (°C)

Decimal

Hex.

Binary

+105

+1050

0x041A

0000 0100 0001 1010

+25

+250

0x00FA

0000 0000 1111 1010

+0.2

0x0002

0000 0000 0000 0010

+0.1

0x0001

0000 0000 0000 0001

0x0000

0000 0000 0000 0000

+0.1

−1

0xFFFF

1111 1111 1111 1111

+0.2

−2

0xFFFE

1111 1111 1111 1110

−40

−400

0xFE70

1111 1110 0111 0000

Time Stamp (TIME_STAMP)

Table 43. TIME_STAMP Register Definition

Addresses

Default

Access

Flash Backup

0x1E, 0x1F

Not applicable

Table 44. TIME_STAMP Bit Definitions

Bits

Description

[15:0]

Time from the last pulse on the SYNC pin; offset binary

format, 1 LSB = 49.02 μs

The TIME_STAMP register (see Table 43 and Table 44) works

in conjunction with scaled sync mode (Register MSC_CTRL,

Bits[4:2] = 010, see Table 105). The 16-bit number in TIME_

STAMP contains the time associated with the last sample in

each data update relative to the most recent edge of the clock

signal in the SYNC pin. For example, when the value in the

UP_SCALE register (see Table 107) represents a scale factor of

20, DEC_RATE = 0, and the external SYNC rate = 100 Hz, the

following time stamp sequence results: 0 LSB, 10 LSB, 21 LSB,

31 LSB, 41 LSB, 51 LSB, 61 LSB, 72 LSB, …, 194 LSB for the 20th

sample, which translates to 0 μs, 490 μs, …, 9510 μs, the time

from the first SYNC edge.

Data Update Counter (DATA_CNTR)

Table 45. DATA_CNTR Register Definition

Addresses

Default

Access

Flash Backup

0x22, 0x23

Not applicable

Table 46. DATA_CNTR Bit Definitions

Bits

Description

[15:0]

Data update counter, offset binary format

When the ADIS16467 goes through the power-on sequence or

when it recovers from a reset command, DATA_CNTR (see

Table 45 and Table 46) starts with a value of 0x0000 and

increments every time new data loads into the output registers.

When the DATA_CNTR value reaches 0xFFFF, the next data

update causes it to wrap back around to 0x0000, where it

continues to increment every time new data loads into the

output registers.

DELTA ANGLES

In addition to the angular rate of rotation (gyroscope)

measurements around each axis (x, y, and z), the ADIS16467 also

provides delta angle measurements that represent a calculation

of angular displacement between each sample update.

Δθz

Δθx

Δθy

Y-AXIS

X-AXIS

Z-AXIS

Figure 41. Delta Angle Axis and Polarity Assignments

The delta angle outputs represent an integration of the gyroscope

measurements and use the following formula for all three axes

(x-axis displayed):



























where:

is the x-axis.

is the sample time, prior to the decimation filter.

is the decimation rate (DEC_RATE + 1, see Table 109).

is the sample rate.

is the incremental variable in the summation formula.

ωX

is the x-axis rate of rotation (gyroscope).

When using the internal sample clock, fS is equal to a nominal

rate of 2000 SPS. For better precision in this measurement,

measure the internal sample rate (fS) using the data ready signal

on the DR pin (DEC_RATE = 0x0000, see Table 108), divide

each delta angle result (from the delta angle output registers) by

the data ready frequency and multiply it by 2000. Each axis of

the delta angle measurements has two output data registers.

Figure 42 shows how these two 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 z-axes.

X-AXIS DELTA ANGLE DATA

X_DELTANG_OUT

X_DELTANG_LOW

BIT 0 BIT 15

BIT 15

BIT 0

Figure 42. Delta Angle Output Data Structure

Delta Angle Measurement Range

Table 47 shows the measurement range and scale factor for

each ADIS16467 model.

Table 47. Delta Angle Measurement Range and Scale Factor

Model

Measurement Range, ±ΔθMAX (°)

ADIS16467-1BMLZ

±360

ADIS16467-2BMLZ

±720

ADIS16467-3BMLZ

±2160

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