Datasheet ADIS16136 (Analog Devices) - 10

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Data Sheet ADIS16136 OUTPUT DATA REGISTERS Table 12. TEMP_OUT Bit Descriptions Table 8. Output Data Register Formats Bits Description Register Address Measurement
[15:0] Temperature data; twos complement, 0.010697°C per LSB, 0°C = 0x0000 TEMP_OUT 0x02 Internal temperature GYRO_OUT2 0x04 Gyroscope, lower 16 bits
Table 13. Temperature, Twos Complement Format
GYRO_OUT 0x06 Gyroscope, upper 16 bits
Temperature Decimal Hex Binary Rotation Rate (Gyroscope)
+85°C +7946 0x1F0A 0001 1111 0000 1010 +0.021394°C +2 0x0002 0000 0000 0000 0010 GYRO_OUT is the primary register for gyroscope output data +0.010697°C +1 0x0001 0000 0000 0000 0001 and uses 16-bit twos complement format for its data. Table 9 0°C 0 0x0000 0000 0000 0000 0000 provides the numerical format, and Table 10 provides several −0.010697 °C −1 0xFFFF 1111 1111 1111 1111 examples for converting digital data into °/sec. −0.021394°C −2 0xFFFE 1111 1111 1111 1110
Table 9. GYRO_OUT Bit Descriptions
−40°C −3739 0xF165 1111 0001 0110 0101
Bits Description DEVICE CONFIGURATION
[15:0] Gyroscope data; twos complement, 0.018275°/sec per LSB, 0°/sec = 0x0000 The control registers listed in Table 14 provide a variety of user configuration options. The SPI provides access to these registers,
Table 10. GYRO_OUT, Twos Complement Format
one byte at a time, using the bit assignments shown in Figure 13.
Rotation Rate Decimal Hex Binary
Each register has 16 bits, wherein Bits[7:0] represent the lower +450°/sec +24,623 0x602F 0110 0000 0010 1111 address and Bits[15:8] represent the upper address. +0.03655°/sec +2 0x0002 0000 0000 0000 0010 Figure 15 provides an example of writing 0x03 to Address 0x22 +0.018275°/sec +1 0x0001 0000 0000 0000 0001 (DEC_RATE[7:0]), using Pin 5, DIN = 0xA203. This example 0°/sec 0 0x0000 0000 0000 0000 0000 reduces the sample rate by a factor of 8 (see Table 16). −0.018275°/sec −1 0xFFFF 1111 1111 1111 1111 −0.03655°/sec −2 0xFFFE 1111 1111 1111 1110
CS
−450°/sec −24,623 0x9FD1 1001 1111 1101 0001
SCLK
The GYRO_OUT2 register (see Table 11) captures the bit growth
DIN
015 associated with the decimation and FIR filters that are shown in
DIN = 1010 0010 0000 0011 = 0xA203, WRITES 0x03 TO ADDRESS 0x22
10249- Figure 18 using a MSB justified format. The bit growth starts Figure 15. SPI Sequence for Setting the Decimate Rate to 8 (DIN = 0xA203) with the MSB (GYRO_OUT2[15]), is equal to the decimation
Dual Memory Structure
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 Writing configuration data to a control register updates its SRAM more details. contents, which are volatile. After optimizing each relevant control register setting in a system, set GLOB_CMD[3] = 1 (DIN =
Table 11. GYRO_OUT2 Bit Descriptions
0xA808) to backup these settings in the nonvolatile flash memory.
Bits Description
The flash back up process requires a valid power supply level for [15:0] Rotation rate data; resolution enhancement bits 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
D D = DEC_RATE[4:0]
in flash and, when backed up properly, automatical y restores itself
GYROSCOPE DATA NOT USED
during startup or after a reset. Figure 16 provides a diagram of the dual memory structure that is used to manage operation and store
15 GYRO_OUT 0 15 GYRO_OUT2 0
critical user settings. 014
0.018275 °/sec BIT WEIGHT = LSB = GYRO_OUT2[16-D] 2D LSB
10249-
MANUAL
Figure 14. Gyroscope Output Format, DEC_RATE[4:0] > 0
FLASH BACKUP Internal Temperature NONVOLATILE VOLATILE FLASH MEMORY SRAM
The TEMP_OUT register (see Table 12) provides an internal
(NO SPI ACCESS) SPI ACCESS
temperature measurement that can be useful for observing relative temperature changes in the environment. Table 13
START-UP RESET
016 provides several coding examples for converting the 16-bit 10249- twos complement number into units for temperature (°C). Figure 16. SRAM and Flash Memory Diagram Rev. D | Page 9 of 20 Document Outline FEATURES APPLICATIONS GENERAL DESCRIPTION FUNCTIONAL BLOCK DIAGRAM TABLE OF CONTENTS REVISION HISTORY SPECIFICATIONS TIMING SPECIFICATIONS Timing Diagrams ABSOLUTE MAXIMUM RATINGS ESD CAUTION PIN CONFIGURATION AND FUNCTION DESCRIPTIONS TYPICAL PERFORMANCE CHARACTERISTICS THEORY OF OPERATION READING SENSOR DATA OUTPUT DATA REGISTERS Rotation Rate (Gyroscope) Internal Temperature DEVICE CONFIGURATION Dual Memory Structure USER REGISTERS DIGITAL PROCESSING CONFIGURATION INTERNAL SAMPLE RATE INPUT CLOCK CONFIGURATION DIGITAL FILTERING AVERAGING/DECIMATION FILTER CALIBRATION AUTOMATIC BIAS CORRECTION (AUTONULL) MANUAL BIAS CORRECTION Restoring Factory Calibration ALARMS STATIC ALARM USE DYNAMIC ALARM USE ALARM REPORTING Alarm Example SYSTEM CONTROLS GLOBAL COMMANDS Software Reset MEMORY MANAGEMENT Checksum Test GENERAL-PURPOSE INPUT/OUTPUT Data Ready Input/Output Indicator Example Input/Output Configuration AUTOMATIC SELF TEST POWER MANAGEMENT STATUS PRODUCT IDENTIFICATION APPLICATIONS INFORMATION POWER SUPPLY CONSIDERATIONS PROTOTYPE INTERFACE BOARD INSTALLATION TIPS PACKAGING AND ORDERING INFORMATION OUTLINE DIMENSIONS ORDERING GUIDE