ADIS16334 Datasheet, PDF (12/20 Pages) Analog Devices – Low Profile Six Degree of Freedom Inertial Sensor

ADIS16334
OUTPUT DATA REGISTERS
Table 9 provides a summary of the output registers. The most
significant bit in each output register provides a new data
indicator function. Every time a new data sample loads into the
output data registers, the ND bit is a 1, until a read operation
accesses the data sample. Then, this bit sets to 0, until the next
data sample loads in. The second most significant bit provides
an error/alarm indicator. This bit is equal to 1 if any error flag in
the DIAG_STAT register is equal to 1 (active).
Table 9. Output Data Register Summary
Register
Address¹ Function
XGYRO_OUT 0x04
Gyroscope output, x-axis
YGYRO_OUT 0x06
Gyroscope output, y-axis
ZGYRO_OUT 0x08
Gyroscope output, z-axis
XACCL_OUT 0x0A
Accelerometer output, x-axis
YACCL_OUT 0x0C
Accelerometer output, y-axis
ZACCL_OUT 0x0E
Accelerometer output, z-axis
TEMP_OUT 0x10
Gyroscope temperature, x-axis
1 _{Lower byte address shown.}
Gyroscopes
The output registers for the gyroscopes (angular rate of rotation)
are XGYRO_OUT, YGYRO_OUT, and ZGRYO_OUT. Table 10
provides the bit assignments for these registers, along with the
digital formatting for converting the digital codes into angular
rate values. Table 11 provides several examples for converting the
14-bit, twos complement data into angular rate measurements,
and Figure 15 provides the physical/directional reference for
these sensors.
Table 10. Gyroscope Register Bit Assignments
Bit(s) Description
[15]
New data, 1 = new data since last read access
[14]
Error/alarm
[13:0]
Angular rate output data. Twos complement digital
format, typical sensitivity = 0.05°/sec per LSB
Z-AXIS
a_Z
g_Z
Table 11. Gyroscope Data Format Examples
Rate¹
Decimal Hex
Binary
+300°/sec
+6000 LSB 0x1770 XX01 0111 0111 0000
+0.1°/sec
+2 LSB
0x0002 XX00 0000 0000 0010
+0.05°/sec
+1 LSB
0x0001 XX00 0000 0000 0001
0°/sec
0 LSB
0x0000 XX00 0000 0000 0000
−0.05°/sec
−1 LSB
0x3FFF XX11 1111 1111 1111
−0.1°/sec
−2 LSB
0x3FFE XX11 1111 1111 1110
−300°/sec
−6000 LSB 0x2890 XX10 1000 1001 0000
1 _{The numbers in the rate column reflect the default range setting, ±300°/sec.}
Accelerometers
The output registers for the accelerometers are XACCL_OUT,
YACCL_OUT, and ZACCL_OUT. Table 12 provides the bit
assignments for these registers, along with the digital formatting
for converting the digital codes into angular rate values. Table 13
provides several examples for converting the 14-bit, twos
complement data into acceleration measurements, and Figure 15
provides the physical/directional reference for these sensors.
Table 12. Accelerometer Register Bit Assignments
Bit(s) Description
[15]
New data, 1 = new data since last read access
[14]
Error/alarm
[13:0]
Linear acceleration output data. Twos complement
digital format, typical sensitivity = 1 mg/LSB
Table 13. Acceleration, Twos Complement Format
Acceleration Decimal Hex
Binary
+5 g
+5000 LSB 0x1388 XX01 0011 1000 1000
+2 mg
+2 LSB
0x0002 XX00 0000 0000 0010
+1 mg
+1 LSB
0x0001 XX00 0000 0000 0001
0g
0 LSB
0x0000 XX00 0000 0000 0000
−1 mg
−1 LSB
0x3FFF XX11 1111 1111 1111
−2 mg
−2 LSB
0x3FFE XX11 1111 1111 1110
−5 g
−5000 LSB 0x2C78 XX10 1100 0111 1000
Y-AXIS
a_Y
g_Y
X-AXIS
a_X
g_X
PIN 20
PIN 2
NOTES
1. ACCELERATION (a_X, a_Y, a_Z) AND ROTATIONAL (g_X, g_Y, g_Z) ARROWS
INDICATE THE DIRECTION OF MOTION THAT PRODUCES A POSITIVE
OUTPUT.
Figure 15. Sensor Axes and Orientation Reference Diagram
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