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ADIS16IMU1/PCBZ 数据表(PDF) 16 Page - Analog Devices |
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ADIS16IMU1/PCBZ 数据表(HTML) 16 Page - Analog Devices |
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16 / 38 page  ADIS16486 Data Sheet Rev. 0 | Page 16 of 38 Self Test Error Flags (DIAG_STS) SYS_E_FLAG, Bit 5 (see Table 20) contains the pass and fail result (0 = pass) for both CST and ODST operations, whereas the DIAG_STS register (see Table 21 and Table 22) contains pass and fail flags (0 = pass) for each inertial sensor. Reading the DIAG_STS register clears all bits to 0. The bits in the DIAG_STS register return to 1 if the error conditions persist. The CST leverages a proprietary method for detecting abnormal behavior during normal operation, whereas the ODST artificially forces each inertial sensor to simulate their response to actual motion. Table 21. DIAG_STS Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x0A, 0x0B 0x0000 R No Table 22. DIAG_STS Bit Definitions Bits Description (Default = 0x0000) [15:6] Not used 5 ODST failure, z-axis accelerometer (1 = failure) 4 ODST failure, y-axis accelerometer (1 = failure) 3 ODST failure, x-axis accelerometer (1 = failure) 2 ODST failure, z-axis gyroscope (1 = failure) 1 ODST failure, y-axis gyroscope (1 = failure) 0 ODST failure, x-axis gyroscope (1 = failure) or continuous self test (CST) failure, all gyroscope and accelerometers (1 = failure) Alarm Error Flags (ALM_STS) The ALM_STS register (see Table 23 and Table 24) contains the error flags for the alarm settings in the ALM_CNFG_0 (see Table 159) and ALM_CNFG_1 (see Table 161) registers. Reading the ALM_STS register clears all bits to 0. If the alarm condition is persistent, the corresponding bit returns to 1 in the next sample cycle. Table 23. ALM_STS Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x0C, 0x0D 0x0000 R No Table 24. ALM_STS Bit Definitions Bits Description (Default = 0x0000) [15:6] Not used 5 Z-axis accelerometer alarm flag (1 = alarm is active) 4 Y-axis accelerometer alarm flag (1 = alarm is active) 3 X-axis accelerometer alarm flag (1 = alarm is active) 2 Z-axis gyroscope alarm flag (1 = alarm is active) 1 Y-axis gyroscope alarm flag (1 = alarm is active) 0 X-axis gyroscope alarm flag (1 = alarm is active) Internal Temperature (TEMP_OUT) The TEMP_OUT register (see Table 25 and Table 26) provides a coarse measurement of the temperature inside of the ADIS16486. This data is most useful for monitoring relative changes in the thermal environment. Table 25. TEMP_OUT Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x0E, 0x0F Not applicable R No Table 26. TEMP_OUT Bit Definition Bits Description (No Default) [15:0] Temperature data, twos complement, 0.00565°C per LSB, 25°C = 0x0000 Table 27. TEMP_OUT Data Format Examples Temperature (°C) Decimal Hex Binary +85 +10,619 0x297B 0010 1001 0111 1011 +25 + 0.0113 +2 0x0002 0000 0000 0000 0010 +25 + 0.00565 +1 0x0001 0000 0000 0000 0001 +25 0 0x0000 0000 0000 0000 0000 +25 − 0.00565 −1 0xFFFF 1111 1111 1111 1111 +25 − 0.0113 −2 0xFFFE 1111 1111 1111 1110 −40 −11,504 0xD310 1101 0011 0001 0000 GYROSCOPE DATA The gyroscopes in the ADIS16486 measure the angular rate of rotation around three orthogonal axes (x, y, and z). Figure 16 shows the orientation of each gyroscope axis, as well as the direction of rotation that produces a positive response in each of their measurements. PIN 1 PIN 23 ωY Y-AXIS ωX X-AXIS Z-AXIS ωZ Figure 16. Gyroscope Axis and Polarity Assignments Each gyroscope has two output data registers. Figure 17 shows how the X_GYRO_LOW and X_GYRO_OUT registers combine to support a 32-bit, twos complement data format for the x-axis gyroscope measurements. This format also applies to the y- and x-axes. X-AXIS GYROSCOPE DATA 0 15 15 0 X_GYRO_OUT X_GYRO_LOW Figure 17. Gyroscope Output Data Structure X-Axis Gyroscope (X_GYRO_LOW, X_GYRO_OUT) The X_GYRO_LOW (see Table 28 and Table 29) and X_GYRO _OUT (see Table 30 and Table 31) registers contain the gyroscope data for the x-axis. Table 28. X_GYRO_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x10, 0x11 Not applicable R No |
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