Bewis Sensing Technology LLC
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BW-AH325
High cost performance CAN bus AHRS
Note: The data of the mode bit output is selected, where 0x00: automatic output attitude angle (default)
0x01: Automatic output acceleration
0x02: Automatic output angular velocity
0x03: Automatic output magnetic field value
0x04: Automatic output attitude angle, acceleration, angular velocity
0x05: automatic output attitude angle, acceleration, angular velocity,
magnetic field value
12)
Set the magnetic declination
send
answer
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x06
Fourth
byte
0x00
Fifth
byte
SY
Sixth
byte
Yy
Seventh
byte
0x00
Eighth
byte
0x00
Note: The magnetic declination is represented by a 2-byte BCD code (5~6 bytes). The highest bit S is a sign bit, 0-
positive; 1-negative, uppercase Y is an integer bit, and lowercase y is a decimal place.
Third
byte
0x10
0x05
13)
Set the standard CAN-ID address
send
answer
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x70
Fourth
byte
0x00
Fifth
byte
XX
Sixth
byte
0x00
Seventh
byte
0x00
Eighth
byte
0x00
Note: XX is 00, 01.00 represents the standard ID (11-bit) type, and 01 represents the extended ID (27-bit) type. The
default is standard.
Third
byte
0x10
14)
Set the standard CAN-ID address
send
answer
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x71
Fourth
byte
0x00
Fifth
byte
XH
Sixth
byte
XL
Seventh
byte
0x00
Eighth
byte
0x00
Note: The standard CAN-ID defaults to 0X580+05 and the maximum value cannot exceed 7FF. The modification here is
that 580,05 in 0X580+05 can be modified by modifying the node number in the previous section. After powering up, the
CAN-ID will become 0x XHXL+0x05.
For example, if you send data: 605 40 71 10 00 01 23 00 00, the CAN-ID becomes 123+5=128 after power-off then
power-on.
Third
byte
0x10
0x05
15)
Set the extended CAN-ID address
When setting the extended CAN-ID address, you need to split the address into two segments, first sending a high
16 address, and then lowering the 16-bit address. Re-power on CAN-ID
It becomes the changed address (the CAN-ID received here does not need to add the node number). The
maximum value cannot exceed 7FFFFFF. The default is 0x 18fa0216.
