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ADIS16135BMLZ Datasheet(PDF) 9 Page - Analog Devices |
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ADIS16135BMLZ Datasheet(HTML) 9 Page - Analog Devices |
9 / 20 page ADIS16135 Rev. 0 | Page 9 of 20 OUTPUT DATA REGISTERS Table 8. Output Data Register Formats Register Address Measurement TEMP_OUT 0x02 Internal temperature GYRO_OUT2 0x04 Gyroscope, lower 16 bits GYRO_OUT 0x06 Gyroscope, upper 16 bits Rotation Rate (Gyroscope) GYRO_OUT is the primary register for gyroscope output data and uses 16-bit twos complement format for its data. Table 9 provides the numerical format, and Table 10 provides several examples for converting digital data into °/sec. Table 9. GYRO_OUT Bit Descriptions Bits Description [15:0] Gyroscope data; twos complement, 0.0125°/sec per LSB, 0°/sec = 0x0000 Table 10. GYRO_OUT, Twos Complement Format Rotation Rate Decimal Hex Binary +300°/sec +24,000 0x5DC0 0101 1101 1100 0000 +0.025°/sec +2 0x0002 0000 0000 0000 0010 +0.0125°/sec +1 0x0001 0000 0000 0000 0001 0°/sec 0 0x0000 0000 0000 0000 0000 −0.0125°/sec −1 0xFFFF 1111 1111 1111 1111 −0.025°/sec −2 0xFFFE 1111 1111 1111 1110 −300°/sec −24,000 0xA240 1010 0010 0100 0000 The GYRO_OUT2 register (see Table 11) captures the bit growth associated with the decimation filter shown in Figure 18, using a MSB-justified format. The bit growth starts with the MSB (GYRO_OUT2[15]), is equal to the decimation rate setting in DEC_RATE[4:0] (see Table 18), and grows in the LSB direction as the decimation rate increases. See Figure 14 for more details. Table 11. GYRO_OUT2 Bit Descriptions Bits Description [15:0] Rotation rate data; resolution enhancement bits GYROSCOPE DATA NOT USED D 15 0 15 0 D = DEC_RATE[4:0] BIT WEIGHT = 0.0125 2D LSB = GYRO_OUT2[16-D] °/sec LSB GYRO_OUT GYRO_OUT2 Figure 14. Gyroscope Output Format, DEC_RATE[4:0] > 0 Internal Temperature The TEMP_OUT register (see Table 12) provides an internal temperature measurement that can be useful for observing relative temperature changes in the environment. Table 13 provides several coding examples for converting the 16-bit twos complement number into units for temperature (°C). Table 12. TEMP_OUT Bit Descriptions Bits Description [15:0] Temperature data; twos complement, 0.058°C per LSB, 0°C = 0x0000 Table 13. Temperature, Twos Complement Format Temperature Decimal Hex Binary +105°C +1810 0x712 0000 0111 0001 0010 +0.116°C +2 0x0002 0000 0000 0000 0010 +0.058°C +1 0x0001 0000 0000 0000 0001 0°C 0 0x0000 0000 0000 0000 0000 −0.058°C −1 0xFFFF 1111 1111 1111 1111 −0.116°C −2 0xFFFE 1111 1111 1111 1110 −40°C −690 0xFD4E 1111 1101 0100 1110 DEVICE CONFIGURATION The control registers listed in Table 14 provide a variety of user configuration options. The SPI provides access to these registers, one byte at a time, using the bit assignments shown in Figure 13. Each register has 16 bits, where Bits[7:0] represent the lower address and Bits[15:8] represent the upper address. Figure 15 provides an example of writing 0x03 to Address 0x22 (DEC_RATE[7:0]), using DIN = 0xA203. This example reduces the sample rate by a factor of 8 (see Table 16). DIN = 1010 0010 0000 0011 = 0xA203, WRITES 0x03 TO ADDRESS 0x22 SCLK DIN CS Figure 15. SPI Sequence for Setting the Decimate Rate to 8 (DIN = 0xA203) Dual Memory Structure Writing configuration data to a control register updates its SRAM contents, which are volatile. After optimizing each relevant control register setting in a system, set GLOB_CMD[3] = 1 (DIN = 0xA808) to back these settings up in nonvolatile flash memory. The flash backup process requires a valid power supply level for the entire 72 ms process time. Table 14 provides a user register memory map that includes a column of flash backup information. A yes in this column indicates that a register has a mirror location in flash and, when backed up properly, automatically restores itself during startup or after a reset. Figure 16 provides a diagram of the dual-memory structure used to manage operation and store critical user settings. NONVOLATILE FLASH MEMORY (NO SPI ACCESS) MANUAL FLASH BACKUP START-UP RESET VOLATILE SRAM SPI ACCESS Figure 16. SRAM and Flash Memory Diagram |
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