INS401 User’s Manual
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Doc# 7430-3305-08
Page 20
ID_NORTHAMERICA = 5,
ID_SOUTHAMERICA = 6,
ID_ANTARCTICA = 7
Diagnostic Message
Table 5 Diagnostic Message
Message
Device diagnostic message, periodic output at 1 Hz
Message ID
0x0a05
Length
22
Payload Description:
Byte Offset Type
Name
Unit
Description
0
uint16 gps_week
GPS time:
GPS week and seconds in week
2
uint32 gps_millisecs
ms
6
uint32 Device status bit field
Definition in the struct below*
10
float32 IMU temperature
o
C
Temperature of the IMU
14
float32 MCU temperature
o
C
Temperature of the MCU
18
float32
GNSS chip temperature
o
C
Temperature of the STA9100
chipset
Definition of the device status bit field is as below. Each status bit has two states :0 is valid and 1
is invalid.
Table 6 Typedef struct
Byte
Type
Description
Value
IMU
0
Uint32 Master fail
0: normal
1: fatal error occured
1
Uint32 HW error
0: normal
1: hardware exception detected
2
Uint32 SW error
0: normal
1: software exception detected
3
Uint32 Config error
0: normal
1: config error detected by periodic self-
test
4
Uint32 Calibration error
0: normal
1: calibration data corrupted
5
Uint32 Accel degradation
0: normal
1: accel data degradation due to sensor
exception
6
Uint32 Gyro degradation
0: normal
