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ADIS16IMU1/PCBZ 数据表(PDF) 20 Page - Analog Devices |
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ADIS16IMU1/PCBZ 数据表(HTML) 20 Page - Analog Devices |
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20 / 38 page  ADIS16486 Data Sheet Rev. 0 | Page 20 of 38 Table 69. 32-Bit Delta Angle Data Format Examples Delta Angle (°) Decimal Hex +720 × (223 − 1)/223 +2,147,483,647 0x7FFFFFFF +720/222 +2 0x00000002 +720/223 +1 0x00000001 0 0 0x00000000 −720/223 −1 0xFFFFFFFF −720/223 −2 0xFFFFFFFE −720 −2,147,483,648 0x80000000 DELTA VELOCITY In addition to the linear acceleration measurements along each axis (x, y, and z), the ADIS16486 provides delta velocity measurements that represent a computation of linear velocity change between each sample update. PIN 1 PIN 23 ΔVY ΔVX Z-AXIS ΔVZ Y-AXIS X-AXIS Figure 22. Delta Velocity Axis and Polarity Assignments The delta velocity outputs represent an integration of the acceleration measurements and use the following formula for all three axes (the x-axis is shown as follows): ( ) 1 , , ,1 0 1 2 D x nD x nD d x nD d d S V aa f − + +− = ∆= × + ∑ where: D is the decimation rate = DEC_RATE + 1 (see Table 149). fs is the sample rate. d is the incremental variable in the summation formula. ax is the x-axis acceleration (accelerometer). n is the sample time, prior to the decimation filter. When using the internal sample clock, fS is equal to 2460 SPS. When using the external clock option, fS is equal to the frequency of the external clock. Ensure that the frequency of the external clock is at least 700 Hz to prevent overflow in the delta velocity data registers at high acceleration levels. Each axis of the delta velocity measurements has two output data registers. Figure 23 shows how the X_DELTVEL_LOW and X_DELTVEL_OUT registers combine to support a 32-bit, twos complement data format for the x-axis delta velocity measurements. This format also applies to the y- and x-axes. X-AXIS DELTA VELOCITY DATA 0 15 15 0 X_ DELTVEL_OUT X_ DELTVEL_LOW Figure 23. Delta Velocity Output Data Structure X-Axis Delta Velocity (X_DELTVEL_LOW, X_DELTVEL_OUT) The X_DELTVEL_LOW (see Table 70 and Table 71) and X_DELTVEL_OUT (see Table 72 and Table 73) registers contain the delta velocity data for the x-axis. Table 70. X_DELTVEL_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x4C, 0x4D Not applicable R No Table 71. X_DELTVEL_LOW Bit Definition Bits Description (No Default) [15:0] X-axis delta velocity data, low word Table 72. X_DELTVEL_OUT Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x4E, 0x4F Not applicable R No Table 73. X_DELTVEL_OUT Bit Definition Bits Description (No Default) [15:0] X-axis delta velocity data, high word, twos complement, ±200 m/sec range, 0 m/sec = 0x0000, 1 LSB = 200 m/sec ÷ 215 = ~6.104 mm/sec Y-Axis Delta Velocity (Y_DELTVEL_LOW, Y_DELTVEL_OUT) The Y_DELTVEL_LOW (see Table 74 and Table 75) and Y_DELTVEL_OUT (see Table 76 and Table 77) registers contain the delta velocity data for the y-axis. Table 74. Y_DELTVEL_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x50, 0x51 Not applicable R No Table 75. Y_DELTVEL_LOW Bit Definition Bits Description (No Default) [15:0] Y-axis delta velocity data, low word Table 76. Y_DELTVEL_OUT Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x52, 0x53 Not applicable R No Table 77. Y_DELTVEL_OUT Bit Definition Bits Description (No Default) [15:0] Y-axis delta velocity data, high word, twos complement, ±200 m/sec range, 0 m/sec = 0x0000, 1 LSB = 200 m/sec ÷ 215 = ~6.104 mm/sec Z-Axis Delta Velocity (Z_DELTVEL_LOW, Z_DELTVEL_OUT) The Z_DELTVEL_LOW (see Table 78 and Table 79) and Z_DELTVEL_OUT (see Table 80 and Table 81) registers contain the delta velocity data for the z-axis. Table 78. Z_DELTVEL_LOW Register Definition Page ID Addresses Default Access Flash Backup 0x00 0x54, 0x55 Not applicable R No Table 79. Z_DELTVEL_LOW Bit Definition Bits Description (No Default) [15:0] Z-axis delta velocity data, low word |
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