Instruction Manual

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GNAV540UserManual
7430‐0808‐01Rev.B
Page73
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T2PayloadContents
Byte
Offset
Name Format Scaling Units Description
BITField
14 comSerialCBIT U2 — —
CommunicationSer
BITField
ialC
16 softwareBIT U2 — — SoftwareBITField
16 softwareAlgorithmBIT U2 — —
SoftwareAlgorithmBIT
Field
20 softwareDataBIT U2 — — SoftwareDataBITField
22 hardwareStatus U2 — — HardwareStatusField
24 comStatus U2 — —
CommunicationStatu
Field
s
26 softwareStatus U2 — — SoftwareStatusField
28 sensorStatus U2 — — SensorStatusField
OutputPackets(PolledorContinuous)
ScaledSensorDataPacket0
Table37SODataPacket
ScaledSensorData(‘S0’=0x5330)
Preamble PacketType Length  Payload Termination
0x5555 0x5330 0x1E <S0payload> <CRC(U2)>
Thispacketcontainsscaledsensordata.Thescaledsensordataisfixedpoint,2bytespersensor,MSBfirst,for13
sensorsinthefollowingorder:accels(x,y,z);gyros(x,y,z);mags(x,y,z);temps(x,y,z,board).Datainvolvingangular
measure ordegrees.
mentsincludethefactorpiinthescalingandcanbeinterpretedineitherradians
• (‐630deg/secto+630deg/sec)
Angularrates:scaledtorangeof3.5*(‐pi,+pi)or
•
Accelerometers:scaledtoarangeof(‐10,+10)g
•
Magnetometers:scaledtoarangeof(‐1,+1)Gauss
• Temperature:scaledtoarangeof(‐100,+100)°C
Table38S0Payload
S0PayloadContents
Byte
ffset
O
Name Format Scaling Units Description
0 xAccel I2 20/2^16 g Xaccelerometer
2 yAccel I2 20/2^16 g Yaccelerometer
4 zAccel I2 20/2^16 g Zaccelerometer
6 xRate I2 7*pi/2^16
(1260°/2^16)
rad/s
(°/sec)
Xangularrate