ADIS16501SLASHPCBZ datasheet(28/45 Pages) AD

28 / 45 page

Data Sheet

ADIS16501

USER REGISTER DEFINITIONS

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Rev. B | 28 of 45

STATUS/ERROR FLAG INDICATORS

(DIAG_STAT)

Table 11. DIAG_STAT Register Definition

Addresses

Default

Access

Flash Backup

0x02, 0x03

0x0000

Table 12. DIAG_STAT Bit Assignments

Bits

Description

[15:8]

Reserved

Clock error. A 1 indicates that the internal data sampling clock (fSM,

see Figure 29) does not synchronize with the external clock, which

only applies when using scaled sync mode (Register MSC_CTRL,

Bits[3:2] = 10, see Table 107). When this error occurs, adjust the

frequency of the clock signal on the SYNC pin to operate within the

appropriate range.

Memory failure. A 1 indicates a failure in the flash memory test (Regis-

ter GLOB_CMD, Bit 4, see Table 113), which involves a comparison

between a cyclic redundancy check (CRC) calculation of the present

flash memory and a CRC calculation from the same memory locations

at the time of initial programming (during the production process). If

this error occurs, repeat the same test. If this error persists, replace

the ADIS16501.

Sensor failure. A 1 indicates failure of at least one sensor, at the

conclusion of the self test (Register GLOB_CMD, Bit 2, see Table

113). If this error occurs, repeat the same test. If this error persists,

replace the ADIS16501. Motion during the execution of this test can

cause a false failure.

Standby mode. A 1 indicates that the voltage across VDD and GND

is <2.8 V, which causes data processing to stop. When VDD ≥ 2.8 V

for 250 ms, the ADIS16501 reinitializes itself and starts producing data

again.

SPI communication error. A 1 indicates that the total number of SCLK

cycles is not equal to an integer multiple of 16. When this error occurs,

repeat the previous communication sequence. Persistence in this error

can indicate a weakness in the SPI service that the ADIS16501 is

receiving from the system it is supporting.

Flash memory update failure. A 1 indicates that the most recent flash

memory update (Register GLOB_CMD, Bit 3, see Table 113) failed.

If this error occurs, ensure that VDD ≥ 3 V and repeat the update

attempt. If this error persists, replace the ADIS16501.

Datapath overrun. A 1 indicates that one of the data paths experi-

enced an overrun condition. If this error occurs, initiate a reset using

the RST pin (see Table 5, Pin F3) or Register GLOB_CMD, Bit 7 (see

Table 113).

Reserved

The DIAG_STAT register (see Table 11 and Table 12) provides error

flags for monitoring the integrity and operation of the ADIS16501.

Reading this register resets its bits to 0. The error flags in DI-

AG_STAT are sticky, meaning that when they raise to a 1, they

remain there until a read request clears them. If an error condition

persists, the flag (bit) automatically returns to an alarm value of 1.

GYROSCOPE DATA

The gyroscopes in the ADIS16501 measure the angular rate of

rotation around three orthogonal axes (x, y, and z). Figure 48 shows

the orientation of each gyroscope axis along with the direction of

rotation that produces a positive response in each of their measure-

ments.

Figure 48. Gyroscope Axis and Polarity Assignments

Each gyroscope has two output data registers. Figure 49 shows

how these two registers combine to support a 32-bit, twos comple-

ment data format for the x-axis gyroscope measurements. This

format also applies to the y- and z-axes.

Figure 49. Gyroscope Output Data Structure

Gyroscope Measurement Range/Scale Factor

Table 13 provides the range and scale factor for the angular rate

(gyroscope) measurements for the ADIS16501.

Table 13. Gyroscope Measurement Range and Scale Factors

Model

Range, ±ωMAX (°/sec)

Scale Factor, KG (°/sec/LSB)

ADIS16501

±500

0.025

Gyroscope Data Formatting

Table 14 and Table 15 offer various numerical examples that dem-

onstrate the format of the rotation rate data in both 16-bit and 32-bit

formats.

Table 14. 16-Bit Gyroscope Data Format Examples

Rotation Rate

Decimal

Hex

Binary

+ωMAX

+20,000

0x4E20

0100 1110 0010 0000

+2 KG

0x0002

0000 0000 0000 0010

+KG

0x0001

0000 0000 0000 0001

0°/sec

0x0000

0000 0000 0000 0000

−KG

−1

0xFFFF

1111 1111 1111 1111

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