ADIS16501SLASHPCBZ datasheet(32/45 Pages) AD

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Data Sheet

ADIS16501

USER REGISTER DEFINITIONS

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Rev. B | 32 of 45

DELTA ANGLES

In addition to the angular rate of rotation (gyroscope) measure-

ments around each axis (x, y, and z), the ADIS16501 also provides

delta angle measurements that represent a calculation of angular

displacement between each sample update.

Figure 52. Delta Angle Axis and Polarity Assignments

The delta angle outputs represent an integration of the gyroscope

measurements and use the following formula for all three axes

(x-axis displayed):

Δθx,nD= 12×fS ×∑d=0D−1ωX,nD+d+ωX,nD+d−1

where:

D is the decimation rate (DEC_RATE + 1, see Table 111).

fS is the sample rate.

d is the incremental variable in the summation formula.

ωX is the x-axis rate of rotation (gyroscope).

n is the sample time, prior to the decimation filter.

When using the internal sample clock, fS is equal to a nominal rate

of 2000 SPS. For better precision in this measurement, measure

the internal sample rate (fS) using the data ready signal on the DR

pin (DEC_RATE = 0x0000, see Table 110), divide each delta angle

result (from the delta angle output registers) by the data ready

frequency, and multiply it by 2000. Each axis of the delta angle

measurements has two output data registers. Figure 53 shows how

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

data format for the x-axis delta angle measurements. This format

also applies to the y- and z-axes.

Figure 53. Delta Angle Output Data Structure

Delta Angle Measurement Range

Table 49 shows the measurement range and scale factor for the

ADIS16501.

Table 49. Delta Angle Measurement Range and Scale Factor

Model

Measurement Range, ±ΔθMAX (°)

ADIS16501

±720

X-Axis Delta Angle (X_DELTANG_LOW and

X_DELTANG_OUT)

Table 50. X_DELTANG_LOW Register Definitions

Addresses

Default

Access

Flash Backup

0x24, 0x25

Not applicable

Table 51. X_DELTANG_LOW Bit Definitions

Bits

Description

[15:0]

X-axis delta angle data, low word

Table 52. X_DELTANG_OUT Register Definitions

Addresses

Default

Access

Flash Backup

0x26, 0x27

Not applicable

Table 53. X_DELTANG_OUT Bit Definitions

Bits

Description

[15:0]

X-axis delta angle data, twos complement, 0° = 0x0000, 1 LSB =

ΔθMAX/215 (see Table 49 for ±ΔθMAX)

The X_DELTANG_LOW (see Table 50 and Table 51) and X_DEL-

TANG_OUT (see Table 52 and Table 53) registers contain the delta

angle data for the x-axis.

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