Bewis Sensing Technology LLC
www.bwsensing.com TEL：0510-85737158
B
W-AH325
High cost performance CAN bus AHRS
10)
Reading magnetic field value
CAN-ID
0x600+0x05
0x580+0x05
send
answer
First
byte
0x40
0x55
Second
byte
0x55
0x00
Third
byte
0x10
AA
Fourth
byte
0x00
AA
Fifth
byte
Sixth
byte
节
0x00
BB
Seventh
byte
0x00
CC
Eighth
byte
0x00
CC
0x00
BB
Note: The X-axis magnetic field value is (AAAA-5000)/5000.
The Y-axis magnetic field value is (BBBB-5000)/5000.
The Z-axis magnetic field value is (CCCC-5000)/5000.
For example, when the received data is 585 55 00 64 85 35 07 50 16, the data on the X-axis is
(6485-5000)/5000=0.297G, and G is Gaussian.
8)
Reading angular velocity
Note: The angular velocity of the X axis is (AAAA5000)/10.
The angular velocity of the Y axis is is (BBBB-5000)/10,
The angular velocity of the Z axis is is (CCCC-5000)/10,
For example, when the received data is 585 50 00 50 12 50 07 50 11, the data on the X-axis is (5012-5000)/10 = 1.2°/s, and
so on.
9)
Read acceleration
CAN-ID
0x600+0x05
0x580+0x05
send
answer
First
byte
0x40
0x50
Second
byte
0x50
0x00
Third
byte
0x10
AA
Fourth
byte
0x00
AA
Fifth
byte
Sixth
byte
0x00
BB
Seventh
byte
0x00
CC
Eighth
byte
0x00
CC
0x00
BB
CAN-ID
0x600+0x05
0x580+0x05
send
answer
First
byte
0x40
0x54
Second
byte
0x54
0x00
Third
byte
0x10
AA
Fourth
byte
0x00
AA
Fifth
byte
Sixth
byte
0x00
BB
Seventh
byte
0x00
CC
Eighth
byte
0x00
CC
0x00
BB
Note: The X-axis acceleration is (AAAA-5000)/2500.
The y-axis acceleration is (BBBB-5000)/2500,
The Z-axis acceleration is (CCCC-5000)/2500,
For example, when the received data is 585 54 00 51 05 49 72 25 79,
The data for the X-axis is (5105-5000)/2500 = 0.042g, where g is the Earth's gravitational
acceleration.
11)
Select automatic output data
CAN-ID
First
byte
Second
byte
Third
byte
Fourth
byte
Fifth
byte
Sixth
byte
Seventh
byte
0x600+0x05
0x580+0x05
0x40
0x40
0x53
0x53
0x10
0x10
0x00
0x00
mode
mode
0x00
0x00
0x00
0x00
0x00
0x00
Eighth
byte
send
answer
