Data Sheet
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4
/ 5
Ang_q2[14:7]
C
Ang_q2[6:0]
LL
HH
FIG 4 ANGLE DATA
Si is sampling data. Set the sampling data to E5 6F. Since this system is a little-endian
mode, the
sampling point S = 0x6FE5, substitute the formula to get Distance = 7161.25mm.
Angle analysis:
Angle data is stored in the FSA and LSA. Each angle data has the following data structure,
C is a parity bit, and its value is fixed at 1. There are two levels of angle resolution: first
level analysis and second level analysis. The first-level analysis initially obtains the initial
value of the angle, and the second-level analysis corrects the initial value of the angle. The
specific process is as follows:
First level analysis
：
Starting angle solution formula
：
End angle solution formula：
Intermediate angle solution formula
：
means shifting the data to the right by one bit.
means the
clockwise angle difference from the starting angle (uncorrected value) to the ending angle
(uncorrected value), and LSN represents the number of packet samples in this frame.
Second-level analysis
：
Angle correction formula：
ngCorrect is the angle correction value, and its calculation formula is as follows,
is
an inverse trigonometric function, and the return angle value is:
ELSE
In the data packet, the 4th to 8th bytes are 28 E5 6F BD 79, so LSN = 0x28 = 40(dec), FSA
= 0x6FE5, LSA = 0x79BD, and bring in the first-level solution formula, and get
：
，
，
°
°