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ADIS16445/PCBZ Datasheet(PDF) 12 Page - Analog Devices |
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ADIS16445/PCBZ Datasheet(HTML) 12 Page - Analog Devices |
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12 / 22 page  ADIS16445 Data Sheet Rev. F | Page 12 of 22 OUTPUT DATA REGISTERS Each sensor in the ADIS16445 has a dedicated output register in the user register map (see Table 6). Figure 17 provides ar- rows, which describe the direction or rotation (gX, gY, gZ) and acceleration (aX, aY, aZ) that produces a positive response in the output data. GYROSCOPES XGYRO_OUT (see Table 9) contains x-axis gyroscope data (gX in Figure 17), YGYRO_OUT (see Table 10) contains y-axis gyro- scope data (gY in Figure 17), and ZGYRO_OUT (see Table 11) contains z-axis gyroscope data (gZ in Figure 17). Table 12 illus- trates the gyroscope data format with numerical examples. Table 9. XGYRO_OUT (Base Address = 0x04), Read Only Bits Description [15:0] X-axis gyroscope data, twos complement format, 100 LSB/°/sec (SENS_AVG[15:8] = 0x04), 0°/sec = 0x0000 Table 10. YGYRO_OUT (Base Address = 0x06), Read Only Bits Description [15:0] Y-axis gyroscope data, twos complement format, 100 LSB/°/sec (SENS_AVG[15:8] = 0x04), 0°/sec = 0x0000 Table 11. ZGYRO_OUT (Base Address = 0x08), Read Only Bits Description [15:0] Z-axis gyroscope data, twos complement format, 100 LSB/°/sec (SENS_AVG[15:8] = 0x04), 0°/sec = 0x0000 Table 12. Rotation Rate, Twos Complement Format1 Rotation Rate (°/sec) Decimal Hex Binary +250 25,000 0x61A8 0110 0001 1010 1000 +2 ÷ 100 +2 0x0002 0000 0000 0000 0010 +1 ÷ 100 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −1 ÷ 100 −1 0xFFFF 1111 1111 1111 1111 −2 ÷ 100 −2 0xFFFE 1111 1111 1111 1110 −250 −25,000 0x9E58 1001 1110 0101 1000 1 SENS_AVG[15:8] = 0x04, see Table 29. ACCELEROMETERS XACCL_OUT (see Table 13) contains x-axis accelerometer data (aX in Figure 17), YACCL_OUT (see Table 14) contains y-axis accelerometer data (aY in Figure 17), and ZACCL_OUT (see Table 15) contains z-axis accelerometer data (aZ in Figure 17). Table 16 illustrates the accelerometer data format with numerical examples. Table 13. XACCL_OUT (Base Address = 0x0A), Read Only Bits Description [15:0] X-axis acceleration data, twos complement format, 4000 LSB/g, 0 g = 0x0000 Table 14. YACCL_OUT (Base Address = 0x0C), Read Only Bits Description [15:0] Y-axis acceleration data, twos complement format, 4000 LSB/g, 0 g = 0x0000 Table 15. ZACCL_OUT (Base Address = 0x0E), Read Only Bits Description [15:0] Z-axis acceleration data, twos complement format, 4000 LSB/g, 0 g = 0x0000 Table 16. Acceleration, Twos Complement Format Acceleration (g) Decimal Hex Binary +5 20,000 0x4E20 0100 1110 0010 0000 +2 ÷ 4000 +2 0x0002 0000 0000 0000 0010 +1 ÷ 4000 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −1 ÷ 4000 −1 0xFFFF 1111 1111 1111 1111 −2 ÷ 4000 −2 0xFFFE 1111 1111 1111 1110 −5 −20,000 0xB1E0 1011 0001 1110 0000 Y-AXIS X-AXIS Z-AXIS aZ aY gY aX gX gZ Figure 17. Inertial Sensor Direction Reference |
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