Data Sheet

UM7 DATASHEET
Rev. 1.6 – Released 1/10/2016
3
TABLE OF CONTENTS
Introduction ................................................................................................................................1
Features ......................................................................................................................................1
Datasheet Revision History..........................................................................................................7
Specifications ..............................................................................................................................8
Absolute Maximum Ratings.......................................................................................................11
Electrical Characteristics ...........................................................................................................12
Pinout .......................................................................................................................................13
Mechanical Drawing ..................................................................................................................15
SPI Communication ...................................................................................................................16
Serial Communication ...............................................................................................................18
NMEA Packets ...........................................................................................................................19
Health Packet - $PCHRH.........................................................................................................20
Pose packet - $PCHRP ............................................................................................................22
Attitude Packet - $PCHRA ......................................................................................................23
Sensor Packet - $PCHRS .........................................................................................................24
Rate Packet - $PCHRR ............................................................................................................26
GPS Pose Packet - $PCHRG ....................................................................................................27
Quaternion Packet - $PCHRQ .................................................................................................29
Binary Packet Structure .............................................................................................................31
Read Operations ....................................................................................................................33
Write Operations ...................................................................................................................33
Command Operations............................................................................................................34
Example Binary Communication Code ...................................................................................34
Register Overview .....................................................................................................................40
Configuration Registers .........................................................................................................40
Data Registers .......................................................................................................................43
Commands ............................................................................................................................45