ADIS16501SLASHPCBZ datasheet(35/45 Pages) AD

35 / 45 page

Data Sheet

ADIS16501

USER REGISTER DEFINITIONS

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Rev. B | 35 of 45

Delta Velocity Resolution

Table 76 and Table 77 offer various numerical examples that dem-

onstrate the format of the delta velocity data in both 16-bit and

32-bit formats.

Table 76. 16-Bit Delta Velocity Data Format Examples

Velocity (m/sec)

Decimal

Hex

Binary

+125 × (215 − 1)/215

+32,767

0x7FFF

0111 1111 1111 1111

+125/214

0x0002

0000 0000 0000 0010

+125/215

0x0001

0000 0000 0000 0001

0x0000

0000 0000 0000 0000

−125/215

−1

0xFFFF

1111 1111 1111 1111

−125/214

−2

0xFFFE

1111 1111 1111 1110

−125

−32,768

0x8000

1000 0000 0000 0000

Table 77. 32-Bit Delta Velocity Data Format Examples

Velocity (m/sec)

Decimal

Hex

+125 × (231 − 1)/231

+2,147,483,647

0x7FFFFFFF

+125/230

0x00000002

+125/231

0x00000001

0x00000000

−125/231

−1

0xFFFFFFFF

−125/230

−2

0xFFFFFFFE

−125

+2,147,483,648

0x80000000

CALIBRATION

The signal chain of each inertial sensor (accelerometers and gy-

roscopes) includes the application of unique correction formulas,

which are derived from extensive characterization of bias, sensitiv-

ity, alignment, response to linear acceleration (gyroscopes), and

point of percussion (accelerometer location) over a temperature

range of −40°C to +85°C, for each ADIS16501. These correction

formulas are not accessible, but users do have the opportunity

to adjust the bias for each sensor individually through user acces-

sible registers. These correction factors follow immediately after

the factory derived correction formulas in the signal chain, which

processes at a rate of 2000 Hz when using the internal sample

clock.

Calibration, Gyroscope Bias (XG_BIAS_LOW

and XG_BIAS_HIGH)

Table 78. XG_BIAS_LOW Register Definition

Addresses

Default

Access

Flash Backup

0x40, 0x41

0x0000

R/W

Yes

Table 79. XG_BIAS_LOW Bit Definitions

Bits

Description

[15:0]

X-axis gyroscope offset correction, lower word

Table 80. XG_BIAS_HIGH Register Definition

Addresses

Default

Access

Flash Backup

0x42, 0x43

0x0000

R/W

Yes

Table 81. XG_BIAS_HIGH Bit Definitions

Bits

Description

[15:0]

X-axis gyroscope offset correction factor, upper word

The XG_BIAS_LOW (see Table 78 and Table 79) and XG_BIAS_

HIGH (see Table 80 and Table 81) registers combine to allow

users to adjust the bias of the x-axis gyroscopes. The data format

examples in Table 14 also apply to the XG_BIAS_HIGH register,

and the data format examples in Table 15 apply to the 32-bit

combination of the XG_BIAS_LOW and XG_BIAS_HIGH registers.

See Figure 56 for an illustration of how these two registers combine

and influence the x-axis gyroscope measurements.

Figure 56. User Calibration Signal Path, Gyroscopes

Calibration, Gyroscope Bias (YG_BIAS_LOW

and YG_BIAS_HIGH)

Table 82. YG_BIAS_LOW Register Definition

Addresses

Default

Access

Flash Backup

0x44, 0x45

0x0000

R/W

Yes

Table 83. YG_BIAS_LOW Bit Definitions

Bits

Description

[15:0]

Y-axis gyroscope offset correction, lower word

Table 84. YG_BIAS_HIGH Register Definition

Addresses

Default

Access

Flash Backup

0x46, 0x47

0x0000

R/W

Yes

Table 85. YG_BIAS_HIGH Bit Definitions

Bits

Description

[15:0]

Y-axis gyroscope offset correction factor, upper word

The YG_BIAS_LOW (see Table 82 and Table 83) and YG_BIAS_

HIGH (see Table 84 and Table 85) registers combine to allow

users to adjust the bias of the y-axis gyroscopes. The data format

examples in Table 14 also apply to the YG_BIAS_HIGH register,

and the data format examples in Table 15 apply to the 32-bit

combination of the YG_BIAS_LOW and YG_BIAS_HIGH registers.

These registers influence the y-axis gyroscope measurements in

the same manner that the XG_BIAS_LOW and XG_BIAS_HIGH

registers influence the x-axis gyroscope measurements (see Figure

56).

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