Getting data from ADIS16470AMLZ

Here is a sample python program to read data from the senosr

import spidev
import time

spi = spidev.SpiDev()
spi.open(0, 0)
spi.max_speed_hz = 100000
spi.mode = 0b11
spi.lsbfirst = False

def read_x_gyro_out():
return convert_deci_to_deg_per_sec(read_signed_decimal(0x07))

def read_y_gyro_out():
return convert_deci_to_deg_per_sec(read_signed_decimal(0x0B))

def read_z_gyro_out():
return convert_deci_to_deg_per_sec(read_signed_decimal(0x0F))

def read_signed_decimal(address):
decimal_list = spi.xfer([address, 0x00])
if decimal_list is None or len(decimal_list) != 2:
raise RuntimeError('Did not read expected number of bytes from device!')

hex_list = [hex(x) for x in decimal_list]

hex_int_1 = int(hex_list[0], 16)
hex_int_2 = int(hex_list[1], 16)

hex_16_bit = (hex_int_1 << 8 | hex_int_2)
binary_string = bin(hex_16_bit)[2:].zfill(16)

# Check if the binary number is negative (starts with 1)
if binary_string[0] == '1':
# Convert the binary number to an unsigned integer
unsigned_decimal = int(binary_string, 2)
# Subtract 65536 from the unsigned integer to get the signed decimal
signed_decimal = unsigned_decimal - 65536

return signed_decimal
# If the binary number is not negative (starts with 0), simply convert it to an integer
else:
return int(binary_string, 2)

def convert_deci_to_deg_per_sec(deci):
return str((deci/10)) + ' deg/sec'

while(True):
print('x_gyro_out: ' + read_x_gyro_out())
print('y_gyro_out: ' + read_y_gyro_out())
print('z_gyro_out: ' + read_z_gyro_out())
print('================================')
time.sleep(0.5)

Thank you for sharing this with the forum! Good luck with your work on the ADIS16470.  We look forward to seeing future questions in this forum! 

Thank you for sharing this with the forum! Good luck with your work on the ADIS16470.  We look forward to seeing future questions in this forum!