Data Sheet ADIS16375
Rev. E | Page 15 of 28
Table 14. x_GYRO_OUT Data Format Examples
Rotation Rate Decimal Hex Binary
+300°/sec +22,887 0x5967 0101 1001 0110 0111
+0.026216/sec +2 0x0002 0000 0000 0000 0010
+0.013108°/sec +1 0x0001 0000 0000 0000 0001
0°/sec 0 0x0000 0000 0000 0000 0000
−0.013108°/sec −1 0xFFFF 1111 1111 1111 1111
−0.026216°/sec −2 0xFFFE 1111 1111 1111 1110
−300°/sec −22,887 0xA699 1010 0110 1001 1001
The registers that use the x_GYRO_LOW naming format provide
additional resolution for the gyroscope measurements. The
MSB has a weight of 0.006554°/sec, and each subsequent bit
carries a weight of ½ of the previous one.
Table 15. X_GYRO_LOW (Page 0, Base Address = 0x10)
Bits Description
[15:0] X-axis gyroscope data; additional resolution bits
Table 16. Y_GYRO_LOW (Page 0, Base Address = 0x14)
Bits Description
[15:0] Y-axis gyroscope data; additional resolution bits
Table 17. Z_GYRO_LOW (Page 0, Base Address = 0x18)
Bits Description
[15:0] Z-axis gyroscope data; additional resolution bits
Acceleration
The registers that use the x_ACCL_OUT format are the primary
registers for the accelerometer measurements. When processing
data from these registers, use a 16-bit, twos complement data
format. Table 1 8, Table 19 and Table 20 provide each register’s
numerical format, and Table 21 provides x_ACCL_OUT digital
coding examples.
Table 18. X_ACCL_OUT (Page 0, Base Address = 0x1E)
Bits Description
[15:0]
X-axis accelerometer data; twos complement, ±18 g
range, 0.8192 mg per LSB, 0 g = 0x0000
Table 19. Y_ACCL_OUT (Page 0, Base Address = 0x22)
Bits Description
[15:0]
Y-axis accelerometer data; twos complement, ±18 g
range, 0.8192 mg per LSB, 0 g = 0x0000
Table 20. Z_ACCL_OUT (Page 0, Base Address = 0x26)
Bits Description
[15:0]
Z-axis accelerometer data; twos complement, ±18 g
range, 0.8192 mg per LSB, 0 g = 0x0000
Table 21. x_ACCL_OUT Data Format Examples
Acceleration Decimal Hex Binary
+18 g +21,973 0x55D5 0101 0101 1101 0101
+1.6384 mg +2 0x0002 0000 0000 0000 0010
+0.8192 mg +1 0x0001 0000 0000 0000 0001
0 mg 0 0x0000 0000 0000 0000 0000
−0.8192 mg −1 0xFFFF 1111 1111 1111 1111
−1.6384 mg −2 0xFFFE 1111 1111 1111 1110
−18 g −21,973 0xAA2B 1010 1010 0010 1011
The registers that use the x_ACCL_LOW naming format provide
additional resolution for the accelerometer measurements. The
MSB has a weight of 0.4096 mg, and each subsequent bit carries
a weight of ½ of the previous one.
Table 22. X_ACCL_LOW (Page 0, Base Address = 0x1C)
Bits Description
[15:0] X-axis accelerometer data; additional resolution bits
Table 23. Y_ACCL_LOW (Page 0, Base Address = 0x20)
Bits Description
[15:0] Y-axis accelerometer data; additional resolution bits
Table 24. Z_ACCL_LOW (Page 0, Base Address = 0x24)
Bits Description
[15:0] Z-axis accelerometer data; additional resolution bits
Delta Angles
The delta angle outputs represent an integration of the gyroscope
measurements and use the following formula for all three axes
(x-axis displayed):
where:
ω
x
is the gyroscope, x-axis.
ΔT
S
is the time between samples.
When using the internal sample clock, f
S
is equal to 2.46 kHz.
When using the external clock option, the time between samples
is the time between active edges on the input clock signal, as
measured by the internal clock (252 MHz). See Tabl e 50 for
more information on the DEC_RATE register. The registers that
use the x_DELTA_ANG_H format are the primary registers for
the delta angle calculations. When processing data from these
registers, use a 16-bit, twos complement data format. Table 25,
Table 26, and Table 27 provide each register’s numerical format,
and Table 28 provides several examples for converting digital
data into angular degrees (°).
Table 25. X_DELTA_ANG_H (Page 0, Base Address = 0x42)
Bits Description
[15:0]
X-axis delta angle data; twos complement, ±179.9891°
range, sensitivity = 0.005493°/LSB, 0° = 0x0000
