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ADIS1644X/FLEX Datasheet(PDF) 12 Page - Analog Devices |
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ADIS1644X/FLEX Datasheet(HTML) 12 Page - Analog Devices |
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12 / 23 page  ADIS16446 Data Sheet Rev. 0 | Page 12 of 23 OUTPUT DATA REGISTERS Each sensor in the ADIS16446 has a dedicated output register in the user register map (see Table 8). Figure 17 provides arrows that describe the direction or rotation (gX, gY, gZ) and acceleration (aX, aY, aZ) that produce a positive response in its 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 illustrates 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, 25 LSB/°/sec (SENS_AVG, Bits[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, 25 LSB/°/sec (SENS_AVG, Bits[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, 25 LSB/°/sec (SENS_AVG, Bits[15:8] = 0x04), 0°/sec = 0x0000 Table 12. Rotation Rate, Twos Complement Format1 Rotation Rate (°/sec) Decimal Hex Binary +1000 +25,000 0x61A8 0110 0001 1010 1000 +2 ÷ 25 +2 0x0002 0000 0000 0000 0010 +1 ÷ 25 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −1 ÷ 25 −1 0xFFFF 1111 1111 1111 1111 −2 ÷ 25 −2 0xFFFE 1111 1111 1111 1110 −1000 −25,000 0x9E58 1001 1110 0101 1000 1 SENS_AVG, Bits[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, 1200 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, 1200 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, 1200 LSB/g, 0 g = 0x0000 Table 16. Acceleration, Twos Complement Format Acceleration (g) Decimal Hex Binary +18 +21,600 0x5460 0101 0100 0101 0000 +2 ÷ 1200 +2 0x0002 0000 0000 0000 0010 +1 ÷ 1200 +1 0x0001 0000 0000 0000 0001 0 0 0x0000 0000 0000 0000 0000 −1 ÷ 1200 −1 0xFFFF 1111 1111 1111 1111 −2 ÷ 1200 −2 0xFFFE 1111 1111 1111 1110 −18 −21,600 0xABA0 1010 1011 1010 0000 Y-AXIS X-AXIS Z-AXIS aZ aY gY aX gX gZ Figure 17. Inertial Sensor Direction Reference |
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