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ADIS16300 Arkusz danych(PDF) 11 Page - Analog Devices |
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ADIS16300 Arkusz danych(HTML) 11 Page - Analog Devices |
11 / 16 page ADIS16300 Rev. 0 | Page 11 of 16 () () /sec 60.3 1206 /sec 0.05 Rate LSB 1206 0x04B6 6 16 11 256 4 0x04B6 0x33B4A 0x000 ° − = − × ° = − = − + × + × − = − = − OUTPUT DATA REGISTERS Figure 6 provides the positive measurement direction for each inertial sensor (gyroscope and accelerometers). Table 9 provides the configuration and scale factor for each output data register in the ADIS16300. All inertial sensor outputs are 14-bits in length and are in twos complement format, which means that 0x0000 is equal to 0 LSB, 0x0001 is equal to +1 LSB, and 0x3FFF is equal to −1 LSB. The following is an example of how to calculate the sensor measurement from the GYRO_OUT: 0x3B4A GYRO_OUT = Therefore, a GYRO_OUT output of 0x3B4A corresponds to a clockwise rotation about the z-axis (see Figure 6) of 60.3°/sec when looking at the top of the package. Table 9. Output Data Register Formats Register Bits Format Scale SUPPLY_OUT 12 Binary, 5 V = 0x0814 2.42 mV GYRO_OUT1 14 Twos complement 0.05°/sec XACCL_OUT 14 Twos complement 0.6 mg YACCL_OUT 14 Twos complement 0.6 mg ZACCL_OUT 14 Twos complement 0.6 mg TEMP_OUT 12 Twos complement 25°C = 0x0000 0.14°C ROLL_OUT 13 Twos complement 0.044° PITCH_OUT 13 Twos complement 0.044° AUX_ADC 12 Binary, 1 V = 0x04D9 0.81 mV 1 Assumes that the scaling is set to ± 300°/sec. This factor scales with the range. Each output data register uses the bit assignments shown in Figure 13. The ND flag indicates that unread data resides in the output data registers. This flag clears and returns to 0 during an output register read sequence. It returns to 1 after the next internal sample updates the registers with new data. The EA flag indicates that one of the error flags in the DIAG_STAT register (see Table 21) is active (true). The remaining 14-bits are for data. MSB FOR 14-BIT OUTPUT MSB FOR 12-BIT OUTPUT ND EA Figure 13. Output Register Bit Assignments Inclinometers The ROLL_OUT and PITCH_OUT registers provide a tilt angle calculation, based on the accelerometers. The zero reference is the point at which the z-axis faces gravity for a north-east-down (NED) configuration. ()⎟ ⎟ ⎠ ⎞ ⎜⎜ ⎝ ⎛ + − = ⎟ ⎠ ⎜ ⎝ φ φ cos _ ) sin( _ _ tan _ _ x OUT ZACCL x OUT YACCL OUT XACCL a OUT PITCH OUT ZACCL = ⎟ ⎞ ⎜ ⎛ = φ _ tan _ OUT YACCL a OUT ROLL Auxiliary ADC The AUX_ADC register provides access to the auxiliary ADC input channel. The ADC is a 12-bit successive approximation converter, which has an equivalent input circuit to the one in Figure 14. The maximum input range is +3.3 V. The ESD protection diodes can handle 10 mA without causing irreversible damage. The switch on-resistance (R1) has a typical value of 100 Ω. The sampling capacitor, C2, has a typical value of 16 pF. V C2 C1 R1 CC D D Figure 14. Equivalent Analog Input Circuit (Conversion Phase: Switch Open, Track Phase: Switch Closed) CALIBRATION Manual Bias Calibration The bias offset registers in Table 10 and Table 11 provide a manual adjustment function for the output of each sensor. For example, if GYRO_OFF equals 0x1FF6, the GYRO_OUT offset shifts by −10 LSBs, or −0.125°/sec. The DIN command for the upper byte is DIN = 0x9B1F; for the lower byte, DIN = 0x9AF6. Table 10. GYRO_OFF Bits Description [15:13] Not used. [12:0] Data bits. Twos complement, 0.0125°/sec per LSB. Typical adjustment range = ±50°/sec. Table 11. XACCL_OFF, YACCL_OFF, ZACCL_OFF Bits Description [15:12] Not used. [11:0] Data bits, twos complement 0.6 mg/LSB. Typical adjustment range = ±1.2 g. Gyroscope Automatic Bias Null Calibration Set GLOB_CMD[0] = 1 (DIN = 0xBE01) to execute this function, which measures GYRO_OUT and then loads GYRO_OFF with the opposite value to provide a quick bias calibration. Then, all sensor data resets to zero, and the flash memory updates automatically (50 ms). See Table 12. Gyroscope Precision Automatic Bias Null Calibration Set GLOB_CMD[4] = 1 (DIN = 0xBE10) to execute this function, which takes the sensor offline for 30 seconds while it collects a set of GYRO_OUT data and calculates a more accurate bias correction factor. Once calculated, the correction factor loads into GYRO_OFF, all sensor data resets to zero, and the flash memory updates automatically (50 ms). See Table 12. |
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